IQ.Pilot Prebuilt Release @ 7a91404

artifacts/package_runtime/iqdbc/lvbs/car/honda/__init__.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

artifacts/package_runtime/iqdbc/lvbs/car/honda/aol.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car import structs
+from iqdbc.car.honda.values import HONDA_BOSCH_RADARLESS
+
+
+class AolCarController:
+  def __init__(self):
+    self.dashed_lanes = False
+
+  def update(self, CP: structs.CarParams, CC: structs.CarControl, CC_IQ: structs.IQCarControl) -> None:
+    enable_aol = CC_IQ.aol.available
+
+    if enable_aol:
+      self.dashed_lanes = CC_IQ.aol.enabled and not CC.latActive
+    else:
+      self.dashed_lanes = CC.hudControl.lanesVisible if CP.carFingerprint in HONDA_BOSCH_RADARLESS else False

artifacts/package_runtime/iqdbc/lvbs/car/honda/gas_interceptor.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.lvbs.car import create_gas_interceptor_command
+
+
+class GasInterceptorCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.gas = 0.
+    self.interceptor_gas_cmd = 0.
+
+  def update(self, CC: structs.CarControl, CS: structs.CarState, gas: float, brake: float, wind_brake: float,
+             packer, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if self.CP_IQ.enableGasInterceptor:
+      gas_pedal = np.interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
+      if CC.longActive:
+        self.gas = float(np.clip(gas_pedal * (gas - brake + wind_brake * 3 / 4), 0., 1.))
+      else:
+        self.gas = 0.0
+      can_sends.append(create_gas_interceptor_command(packer, self.gas, frame // 2))
+
+    return can_sends

artifacts/package_runtime/iqdbc/lvbs/car/honda/iq_carstate.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.honda.iq_values import HondaFlagsIQ
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    if self.CP_IQ.flags & HondaFlagsIQ.HAS_CAMERA_MESSAGES:
+      speed_bus = cp if (self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD)) else cp_cam
+      speed_limit_raw = speed_bus.vl["CAMERA_MESSAGES"]["SPEED_LIMIT_SIGN"] % 32
+      ret_iq.speedLimit = speed_limit_raw * 5.0 * CV.MPH_TO_MS if (1 <= speed_limit_raw <= 17) else 0.0
+
+    if self.CP_IQ.flags & HondaFlagsIQ.NIDEC_HYBRID:
+      ret.accFaulted = bool(cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_2"])
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE_HYBRID"] > 1e-5)
+
+    if self.CP_IQ.flags & HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD:
+      ret.brakeHoldActive = cp.vl["BRAKE_HOLD_HYBRID_ALT"]["BRAKE_HOLD_ACTIVE"] == 1
+
+    if self.CP_IQ.enableGasInterceptor:
+      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
+      gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = gas > 492

artifacts/package_runtime/iqdbc/lvbs/car/honda/iq_fingerprints.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car.structs import CarParams
+from iqdbc.car.honda.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS_EXT = {
+  CAR.HONDA_ACCORD: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TVA,A150\x00\x00',
+    ],
+  },
+  CAR.HONDA_CIVIC: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBA,A030\x00\x00',
+    ],
+  },
+  CAR.HONDA_CIVIC_BOSCH: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+    ],
+  },
+  CAR.HONDA_CRV_5G: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TLA,A040\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.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TRW-A110\x00\x00',
+    ],
+  },
+}

artifacts/package_runtime/iqdbc/lvbs/car/honda/iq_values.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class HondaFlagsIQ(IntFlag):
+  NIDEC_HYBRID = 1
+  EPS_MODIFIED = 2
+  HYBRID_ALT_BRAKEHOLD = 4
+  HAS_CAMERA_MESSAGES = 8
+
+
+class HondaSafetyFlagsIQ:
+  NIDEC_HYBRID = 1
+  GAS_INTERCEPTOR = 2

artifacts/package_runtime/iqdbc/lvbs/car/honda/test_honda.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from parameterized import parameterized
+from types import SimpleNamespace
+
+from iqdbc.can import CANParser
+from iqdbc.car import Bus, gen_empty_fingerprint
+from iqdbc.car.structs import CarParams, CarState, IQCarState as IQCarStateStruct
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.honda.values import CAR
+from iqdbc.lvbs.car.honda.iq_carstate import IQCarState
+
+CarFw = CarParams.CarFw
+
+
+class TestHondaEpsMod:
+
+  @parameterized.expand([(CAR.HONDA_CIVIC, b'39990-TBA,A030\x00\x00'), (CAR.HONDA_CIVIC, b'39990-TBA-A030\x00\x00'),
+                         (CAR.HONDA_CLARITY, b'39990-TRW-A020\x00\x00'), (CAR.HONDA_CLARITY, b'39990,TRW,A020\x00\x00')])
+  def test_eps_mod_fingerprint(self, car_name, fw):
+    fingerprint = gen_empty_fingerprint()
+    car_fw = [CarFw(ecu="eps", fwVersion=fw)]
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_params(car_name, fingerprint, car_fw, False, False, False)
+    _ = CarInterface.get_params_iq(CP, car_name, fingerprint, car_fw, False, False, False)
+
+    assert not CP.dashcamOnly
+
+
+class TestHondaGasInterceptor:
+  def test_gas_sensor_registration_and_threshold(self):
+    CP = SimpleNamespace()
+    CP_IQ = SimpleNamespace(enableGasInterceptor=True, flags=0)
+    parser = CANParser("acura_ilx_2016_can_generated", [], 0)
+    state = IQCarState(CP, CP_IQ)
+    ret = CarState()
+    ret_iq = IQCarStateStruct()
+
+    state.update(ret, ret_iq, {Bus.pt: parser, Bus.cam: parser})
+    assert "GAS_SENSOR" in parser.vl
+    assert not ret.gasPressed
+
+    parser.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] = 493
+    parser.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"] = 493
+    state.update(ret, ret_iq, {Bus.pt: parser, Bus.cam: parser})
+    assert ret.gasPressed