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honda: enable Bosch-A radar for CR-V 5G

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Promote HONDA_CRV_5G after replaying a StarPilot route with active Bosch-A object frames across multiple segments. Add explicit CR-V DBC wiring and availability coverage while leaving every other unverified Bosch-A platform gated off.

Co-authored-by: JamesL787 <jamezelle1@gmail.com>
This commit is contained in:
firestar5683
2026-08-25 20:07:57 -05:00
parent 145bf39587
commit 7446b96939
2 changed files with 17 additions and 7 deletions
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opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py
+13 -3
View File
@@ -1098,6 +1098,15 @@ def test_civic_bosch_radar_dbc_wired_for_parser_unit_tests():
assert ri.rcp is not None
def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
cp = CarInterface.get_non_essential_params(CAR.HONDA_CRV_5G)
assert cp.radarUnavailable is False
ri = CarInterface.RadarInterface(cp)
assert ri.bosch_a_radar is True
assert ri.rcp is not None
assert ri.rcp.bus == CanBus(cp).camera
def test_civic_bosch_object_feed_uses_camera_side_acc_can():
ri = make_radar_interface()
can = CanBus(CP)
@@ -1118,7 +1127,7 @@ _EXPECTED_BOSCH_A_CARS = frozenset({
CAR.HONDA_E,
CAR.HONDA_E_ADVANCE,
})
_VERIFIED_BOSCH_A_CARS = frozenset({CAR.HONDA_CIVIC_BOSCH})
_VERIFIED_BOSCH_A_CARS = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
_EXCLUDED_BOSCH_CARS = [
CAR.HONDA_CIVIC_2022,
@@ -1150,8 +1159,9 @@ def test_bosch_a_gate_stays_closed_for_non_bosch_a_platforms(car):
def test_bosch_a_verified_platform_gate_can_open():
cp = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH)
assert cp.radarUnavailable is False
for car in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G):
cp = CarInterface.get_non_essential_params(car)
assert cp.radarUnavailable is False
def test_bosch_a_toggle_can_close_verified_platform(monkeypatch):
opendbc_repo/opendbc/car/honda/values.py
+4 -4
View File
@@ -533,10 +533,10 @@ HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
# HondaBoschARadar. This describes hardware compatibility only; it is deliberately separate from the
# verified set below so a newly supported model cannot start using unvalidated radar data by accident.
HONDA_BOSCH_A = HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD - HONDA_BOSCH_ALT_RADAR
# Add individual CAR entries only after the contributor has personally road-tested the exact platform
# or we have accepted a real capture. James developed and road-tested the plain Bosch Civic decoder;
# every other Bosch-A variant remains disabled until it gets the same verification.
HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH})
# Add individual CAR entries only after the exact platform has a real capture and decoder replay
# validation. The Civic and CR-V 5G captures both exercise the plain Bosch-A object bank; every
# other Bosch-A variant remains disabled until it gets the same verification.
HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
HONDA_CAMERA_MESSAGE_CARS = {
CAR.HONDA_ACCORD,