bump opendbc (#39057)

(cherry picked from commit 0e5718116af4e1cfc004ace0aa22b0f19a5b1635)
2026-10-30 18:44:13 +08:00 · 2026-10-08 20:38:08 -07:00
parent 89355810ee
commit 5fcb9e7319
7 changed files with 17 additions and 6 deletions
@@ -116,7 +116,7 @@ jobs:
        path: /tmp/comma_download_cache
        key: car_models-${{ hashFiles('opendbc/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 2 || 6 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 2 || 8 }}
      run: source .venv/bin/activate && MAX_EXAMPLES=1 opendbc/car/tests/test_models.py
      env:
        NUM_JOBS: 4
@@ -111,7 +111,7 @@
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V 2023-26|All|[Upstream](#upstream)|
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
-|Honda|CR-V Hybrid 2023-26|All|[Upstream](#upstream)|
+|Honda|CR-V Hybrid 2023-27|All|[Upstream](#upstream)|
 |Honda|e 2020|All|[Upstream](#upstream)|
 |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
@@ -1162,6 +1162,7 @@ FW_VERSIONS = {
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'8S302-3A0-A060\x00\x00',
      b'8S302-3A0-A220\x00\x00',
+      b'8S302-3A0-A230\x00\x00',
      b'8S302-3C0-Q050\x00\x00',
      b'8S302-3D4-A050\x00\x00',
      b'8S302-3D4-A060\x00\x00',
@@ -229,7 +229,7 @@ class CAR(Platforms):
  HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
    [
      HondaCarDocs("Honda CR-V 2023-26", "All"),
-      HondaCarDocs("Honda CR-V Hybrid 2023-26", "All"),
+      HondaCarDocs("Honda CR-V Hybrid 2023-27", "All"),
    ],
    CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
  )
@@ -17,6 +17,7 @@ class CarState(CarStateBase):
    self.CCP = CarControllerParams(CP)
    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
    self.esp_hold_confirmation = False
+    self.esp_standstill = False
    self.upscale_lead_car_signal = False
    self.eps_stock_values = False
    self.acc_type = 0
@@ -279,7 +280,11 @@ class CarState(CarStateBase):
    ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])

    self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
-    self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
+    self.esp_standstill = bool(pt_cp.vl["ESC_50"]["Standstill"])
+    if self.CP.flags & VolkswagenFlags.MEB_GEN2:
+      self.esp_hold_confirmation = pt_cp.vl["VMM_02"]["HMS_Status"] == 1
+    else:
+      self.esp_hold_confirmation = self.esp_standstill
    self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
    ret.stockFcw = bool(ext_cp.vl["AWV_03"]["FCW_Active"])
    ret.stockAeb = bool(ext_cp.vl["AWV_03"]["AEB_Active"])
@@ -98,10 +98,12 @@ class MebLongStateMachine:
    # warning: car is reacting to hold mechanic even with long control off
    # HALTEN -> KEINE_ANFORDERUNG causes the car to fault into park, so both branches below put a ramp in
    # between: disengaging always ramps, and while engaged a release ramps until 5 kph
-    # NOTE: this allows KEINE_ANFORDERUNG -> ANFAHREN, but we haven't observed a fault due to this yet
+    # NOTE: ANFAHREN faults TSK if the hold manager isn't holding
    # TODO: camera can send 7 on disengage at a stop which we don't fully understand yet
    stopping = CC.actuators.longControlState == LongCtrlState.stopping
-    starting = CC.actuators.longControlState == LongCtrlState.pid and CS.esp_hold_confirmation
+    # HMS_Status leaves holding as soon as we send anfahren, so keep driving off until we leave standstill
+    driving_off = self.prev_acc_hold_type == self.acc_hold_type_vals['ANFAHREN'] and CS.esp_standstill
+    starting = CC.actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or driving_off)
    long_active = CC.longActive and not CS.out.accFaulted  # catches it one frame earlier, not sure if needed

    if not long_active:
@@ -299,6 +299,7 @@ BO_ 313 VMM_02: 32 XXX
 SG_ FCW_Reaction_2 : 56|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pressure : 76|11@1+ (1,0) [0|100] "" XXX
 SG_ FCW_Reaction_3 : 88|5@1+ (1,0) [0|31] "" XXX
+ SG_ HMS_Status : 196|4@1+ (1,0) [0|15] "" XXX

 BO_ 317 QFK_01: 32 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -2027,6 +2028,7 @@ CM_ SG_ 219 Unknown_192 "Constant per platform (0 on all gen1 ID.4/Born, 1 on al
 CM_ SG_ 219 Unknown_27 "Low bit tracks AWV_Unavailable, but is also set in 20-33% of normal driving";
 CM_ SG_ 219 Unknown_80 "Low bit is normally 1 and clears with AWV_Unavailable, but also clears in ~1% of normal driving";
 CM_ SG_ 313 Long_Control_Inhibit "Goes high after user brakes hard, causes temporary TSK_Status fault";
+CM_ SG_ 313 HMS_Status "Hold manager response to ACC_18.ACC_Anforderung_HMS and auto hold, 2024+ only";
 CM_ SG_ 333 SET_ME_0x2FE "Only set by stock ACC on 2024+; reads 0 on pre-2024 and is not packed by mebcan";
 CM_ SG_ 380196013 AWV_Status "Mirrors AWV_03.AWV_Unavailable, at a higher rate";
 CM_ BO_ 317 "Lenkungssteuergerät";
@@ -2155,6 +2157,7 @@ VAL_ 299 GRA_LIM_Taste_verfuegbar 0 "Limiter_Taste_nicht_vorhanden" 1 "Limiter_T
 VAL_ 299 GRA_Tip_Stufe_2 0 "Tip_Stufe_1__keine_Betaetigung" 1 "Tip_Stufe_2";
 VAL_ 299 GRA_TravelAssist 0 "nicht_betaetigt" 1 "betaetigt";
 VAL_ 313 Long_Control_Inhibit 1 "not_inhibited" 2 "inhibited";
+VAL_ 313 HMS_Status 0 "not_holding" 1 "holding" 5 "starting" 6 "releasing" 9 "stopping";
 VAL_ 317 LatCon_HCA_Status 0 "disabled" 1 "initializing" 2 "ready" 3 "fault" 4 "active" 5 "preempted" 6 "fault" 7 "rejected";
 VAL_ 319 PreCrash_Charisma_FahrPr 0 "keine_Funktion" 1 "Programm_1" 2 "Programm_2" 3 "Programm_3" 4 "Programm_4" 5 "Programm_5" 6 "Programm_6" 7 "Programm_7" 8 "Programm_8" 9 "Programm_9" 10 "Programm_10" 11 "Programm_11" 12 "Programm_12" 13 "Programm_13" 14 "Programm_14" 15 "Programm_15";
 VAL_ 319 PreCrash_Charisma_Status 0 "Init" 1 "verfuegbar" 2 "nicht_verfuegbar" 3 "asynchron_durch_Fahrerwunsch";