mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-02 20:13:53 +08:00
Honda Modified EPS
This commit is contained in:
firestar5683
@@ -3,6 +3,7 @@ import numpy as np
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from opendbc.can import CANPacker
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from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
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from opendbc.car.honda import hondacan
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from opendbc.car.honda.modified_civic_steering import ModifiedCivicSteering
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from opendbc.car.honda.bosch_longitudinal import BoschLongitudinal, qualified as bosch_long_qualified
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from opendbc.car.honda.values import CAR, CruiseButtons, HondaFlags, CarControllerParams
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from opendbc.car.interfaces import CarControllerBase
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@@ -97,6 +98,8 @@ class CarController(CarControllerBase):
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self.bosch_longitudinal = BoschLongitudinal(CP, self.params) if bosch_long_qualified(CP) else None
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self.bosch_learning_params = None
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self.tja_control = bool(CP.flags & HondaFlags.BOSCH_TJA_CONTROL)
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self.modified_civic_steering = (ModifiedCivicSteering() if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and
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CP.flags & HondaFlags.EPS_MODIFIED and not CP.passive and not CP.dashcamOnly and not CP.notCar else None)
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self.braking = False
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self.brake_steady = 0.
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@@ -127,7 +130,8 @@ class CarController(CarControllerBase):
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gas, brake = 0.0, 0.0
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# *** rate limit steer ***
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limited_torque = rate_limit(actuators.torque, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL,
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torque_cmd = self.modified_civic_steering.update(CC, CS) if self.modified_civic_steering is not None else actuators.torque
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limited_torque = rate_limit(torque_cmd, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL,
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self.params.STEER_DELTA_UP * DT_CTRL)
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self.last_torque = limited_torque
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@@ -145,7 +149,7 @@ class CarController(CarControllerBase):
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# steer torque is converted back to CAN reference (positive when steering right)
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# Preserve integer CAN rounding while steering limits are owned by the platform.
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apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
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self.params.STEER_LOOKUP, self.params.STEER_LOOKUP))
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self.params.STEER_LOOKUP, self.params.STEER_LOOKUP_V))
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# Send CAN commands
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can_sends = []
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@@ -92,6 +92,7 @@ FW_VERSIONS = {
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b'39990-TVA-X040\x00\x00',
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b'39990-TVE-H130\x00\x00',
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b'39990-TWB-H120\x00\x00',
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b'39990-TVA,A150\x00\x00',
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],
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(Ecu.srs, 0x18da53f1, None): [
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b'77959-TBX-H230\x00\x00',
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@@ -168,6 +169,7 @@ FW_VERSIONS = {
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b'39990-TBG-A030\x00\x00',
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b'39990-TEA-T020\x00\x00',
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b'39990-TEG-A010\x00\x00',
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b'39990-TBA,A030\x00\x00',
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],
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(Ecu.srs, 0x18da53f1, None): [
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b'77959-TBA-A030\x00\x00',
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@@ -247,6 +249,8 @@ FW_VERSIONS = {
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b'39990-TGH-J530\x00\x00',
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b'39990-TGL-E130\x00\x00',
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b'39990-TGN-E120\x00\x00',
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b'39990-TGG,A020\x00\x00',
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b'39990-TGG,A120\x00\x00',
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],
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(Ecu.srs, 0x18da53f1, None): [
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b'77959-TBA-A060\x00\x00',
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@@ -385,6 +389,7 @@ FW_VERSIONS = {
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b'39990-TME-T030\x00\x00',
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b'39990-TME-T120\x00\x00',
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b'39990-TMT-T010\x00\x00',
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b'39990-TLA,A040\x00\x00',
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],
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(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
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b'46114-TLA-A040\x00\x00',
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@@ -4,7 +4,7 @@ from opendbc.car import get_safety_config, structs, uds
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.disable_ecu import disable_ecu
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from opendbc.car.honda.hondacan import CanBus
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from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HondaSafetyFlags, MANUAL_TRANS_CARS
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from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HondaSafetyFlags, MANUAL_TRANS_CARS, MODIFIED_EPS_FW
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from opendbc.car.honda.carcontroller import CarController
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from opendbc.car.honda.carstate import CarState
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from opendbc.car.honda.radar_interface import RadarInterface
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@@ -90,13 +90,18 @@ class CarInterface(CarInterfaceBase):
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ret.longitudinalTuning.kiBP = [0., 5., 35.]
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ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
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# Disable control if EPS mod detected
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for fw in car_fw:
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if fw.ecu == "eps" and b"," in fw.fwVersion:
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ret.dashcamOnly = True
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eps_observations = [fw for fw in car_fw if fw.ecu == "eps"]
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modified_eps = any(b"," in fw.fwVersion for fw in eps_observations)
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eps_modified = bool(modified_eps) and all(
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fw.address == 0x18DA30F1 and fw.subAddress == 0 and
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fw.fwVersion in MODIFIED_EPS_FW.get(candidate, ()) for fw in eps_observations)
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if eps_modified:
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ret.flags |= HondaFlags.EPS_MODIFIED.value
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elif modified_eps:
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ret.dashcamOnly = True
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if candidate == CAR.HONDA_CIVIC:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = ([[0.3], [0.1]] if eps_modified else [[1.1], [0.33]])
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elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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@@ -106,7 +111,7 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
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elif candidate == CAR.HONDA_ACCORD:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = ([[0.3], [0.09]] if eps_modified else [[0.6], [0.18]])
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elif candidate == CAR.ACURA_ILX:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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@@ -116,7 +121,7 @@ class CarInterface(CarInterfaceBase):
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_CRV_5G:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = ([[0.21], [0.07]] if eps_modified else [[0.64], [0.192]])
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_CRV_HYBRID:
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@@ -0,0 +1,87 @@
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from opendbc.car import DT_CTRL
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def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
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torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
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torque_cmd_abs = abs(float(torque_cmd))
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sign_change = float(torque_cmd) * float(prev_torque_cmd) < 0.0
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highway = v_ego > 50.0 * 0.44704
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low_speed = v_ego < 30.0 * 0.44704
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if highway:
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if torque_cmd_abs < 0.12:
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return 0.18 if sign_change else 0.16
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if sign_change and torque_delta > 0.15:
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return 0.1
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return 0.12
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if sign_change and torque_cmd_abs < 0.25:
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return 0.28 if low_speed else 0.22
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if torque_cmd_abs < 0.12:
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return 0.28 if low_speed else 0.2
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if low_speed:
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if torque_delta > 0.5:
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return 0.14
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elif torque_delta > 0.2:
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return 0.16
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elif torque_delta > 0.05:
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return 0.18
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else:
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return 0.22
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if torque_delta > 0.5:
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return 0.12
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elif torque_delta > 0.2:
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return 0.13
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elif torque_delta > 0.05:
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return 0.15
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else:
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return 0.18
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def get_civic_bosch_modified_steering_pressed(raw_pressed: bool, steering_torque: float, torque_cmd: float,
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filter_s: float, was_pressed: bool) -> tuple[float, bool]:
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torque_product = steering_torque * torque_cmd
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torque_cmd_abs = abs(torque_cmd)
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if raw_pressed:
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if torque_product < 0.0:
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trigger_s = 0.08 if was_pressed else 0.1
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rise_rate = 1.0
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elif torque_cmd_abs < 0.1:
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trigger_s = 0.2 if was_pressed else 0.24
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rise_rate = 0.75
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else:
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trigger_s = 0.7 if was_pressed else 0.8
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rise_rate = 0.5
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filter_s = min(1.0, filter_s + rise_rate * DT_CTRL)
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steering_pressed = filter_s >= trigger_s
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else:
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filter_s = max(0.0, filter_s - 8.0 * DT_CTRL)
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steering_pressed = filter_s > 0.04 and was_pressed
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return (filter_s, steering_pressed)
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class ModifiedCivicSteering:
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def __init__(self):
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self.reset()
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def reset(self):
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self.torque_lpf = 0.0
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self.prev_torque_cmd = 0.0
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self.steering_pressed_filter_s = 0.0
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self.steering_pressed_robust_prev = False
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def update(self, CC, CS):
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torque_cmd = float(CC.actuators.torque)
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if not CC.latActive:
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self.reset()
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return torque_cmd
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self.steering_pressed_filter_s, pressed = get_civic_bosch_modified_steering_pressed(
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bool(CS.out.steeringPressed), float(CS.out.steeringTorque), torque_cmd,
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self.steering_pressed_filter_s, self.steering_pressed_robust_prev)
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self.steering_pressed_robust_prev = pressed
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if pressed:
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self.torque_lpf = 0.0
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self.prev_torque_cmd = 0.0
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return 0.0
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tau = get_civic_bosch_modified_torque_lpf_tau(torque_cmd, self.prev_torque_cmd, CS.out.vEgo)
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alpha = DT_CTRL / (tau + DT_CTRL)
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self.torque_lpf = alpha * torque_cmd + (1.0 - alpha) * self.torque_lpf
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self.prev_torque_cmd = torque_cmd
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return self.torque_lpf
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@@ -0,0 +1,137 @@
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import pytest
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.fw_versions import match_fw_to_car
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from opendbc.car.honda.hondacan import CanBus
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from opendbc.car.honda.interface import CarInterface
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from opendbc.car.honda.values import CAR, CarControllerParams, HondaFlags, MODIFIED_EPS_FW
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Ecu = structs.CarParams.Ecu
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SOURCE_BASELINES = {
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CAR.HONDA_CIVIC: {
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(Ecu.transmission, 416947953, None): b'28101-5CG-A040\x00\x00',
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(Ecu.vsa, 416950513, None): b'57114-TBA-A540\x00\x00',
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(Ecu.eps, 416952561, None): b'39990-TBA,A030\x00\x00',
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(Ecu.srs, 416961521, None): b'77959-TBA-A030\x00\x00',
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(Ecu.fwdRadar, 416985329, None): b'36161-TBA-A020\x00\x00',
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(Ecu.gateway, 417001457, None): b'38897-TBA-A010\x00\x00',
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},
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CAR.HONDA_ACCORD: {
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(Ecu.shiftByWire, 416943089, None): b'54008-TVC-A910\x00\x00',
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(Ecu.transmission, 416947953, None): b'28101-6A7-A220\x00\x00',
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(Ecu.electricBrakeBooster, 416951281, None): b'46114-TVA-A050\x00\x00',
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(Ecu.vsa, 416950513, None): b'57114-TVA-B040\x00\x00',
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(Ecu.eps, 416952561, None): b'39990-TBX-H120\x00\x00',
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(Ecu.srs, 416961521, None): b'77959-TBX-H230\x00\x00',
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(Ecu.hud, 416965105, None): b'78209-TVA-A010\x00\x00',
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(Ecu.fwdRadar, 416985329, None): b'36802-TBX-H140\x00\x00',
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(Ecu.fwdCamera, 416986609, None): b'36161-TBX-H130\x00\x00',
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(Ecu.gateway, 417001457, None): b'38897-TVA-A010\x00\x00',
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},
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CAR.HONDA_CIVIC_BOSCH: {
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(Ecu.transmission, 416947953, None): b'28101-5CG-A920\x00\x00',
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(Ecu.vsa, 416950513, None): b'57114-TBG-A330\x00\x00',
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(Ecu.eps, 416952561, None): b'39990-TBA-C120\x00\x00',
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(Ecu.srs, 416961521, None): b'77959-TBA-A060\x00\x00',
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(Ecu.fwdRadar, 416985329, None): b'36802-TBA-A150\x00\x00',
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(Ecu.fwdCamera, 416986609, None): b'36161-TBA-A130\x00\x00',
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(Ecu.gateway, 417001457, None): b'38897-TBA-A020\x00\x00',
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(Ecu.electricBrakeBooster, 416951281, None): b'39494-TGL-G030\x00\x00',
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},
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CAR.HONDA_CRV_5G: {
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(Ecu.transmission, 416947953, None): b'28101-5RG-A020\x00\x00',
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(Ecu.vsa, 416950513, None): b'57114-TLA-A040\x00\x00',
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(Ecu.eps, 416952561, None): b'39990-TLA,A040\x00\x00',
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(Ecu.electricBrakeBooster, 416951281, None): b'46114-TLA-A040\x00\x00',
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(Ecu.gateway, 417001457, None): b'38897-TLA-A010\x00\x00',
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(Ecu.fwdRadar, 416985329, None): b'36802-TLA-A040\x00\x00',
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(Ecu.fwdCamera, 416986609, None): b'36161-TLA-A060\x00\x00',
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(Ecu.srs, 416961521, None): b'77959-TLA-A240\x00\x00',
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},
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}
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KNOWN_CASES = (
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(CAR.HONDA_CIVIC, b'39990-TBA,A030\x00\x00'),
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(CAR.HONDA_ACCORD, b'39990-TVA,A150\x00\x00'),
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(CAR.HONDA_CIVIC_BOSCH, b'39990-TGG,A020\x00\x00'),
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(CAR.HONDA_CIVIC_BOSCH, b'39990-TGG,A120\x00\x00'),
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(CAR.HONDA_CRV_5G, b'39990-TLA,A040\x00\x00'),
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)
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def params(candidate, firmware):
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fingerprint = gen_empty_fingerprint()
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initial = CarInterface.get_params(candidate, fingerprint, [], False, False, False)
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fingerprint[CanBus(initial).pt][0x1A3] = 8
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return CarInterface.get_params(candidate, fingerprint, firmware, False, False, False)
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def eps(version, address=0x18DA30F1, sub=0):
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return structs.CarParams.CarFw(ecu=Ecu.eps, address=address, subAddress=sub, fwVersion=version, brand="honda")
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@pytest.mark.parametrize("candidate,version", KNOWN_CASES)
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def test_exact_modified_eps_full_cohort_joint_matcher_and_final_cp(candidate, version):
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cohort = dict(SOURCE_BASELINES[candidate])
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cohort[(Ecu.eps, 0x18DA30F1, None)] = version
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firmware = [
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structs.CarParams.CarFw(ecu=ecu, address=address, subAddress=0 if sub is None else sub, fwVersion=value, brand="honda")
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for (ecu, address, sub), value in cohort.items()
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]
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for allow_exact in (True, False):
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assert match_fw_to_car(firmware, "", allow_exact=allow_exact, log=False)[1] == {candidate}
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stock = params(candidate, [])
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cp = params(candidate, firmware)
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assert cp.flags & HondaFlags.EPS_MODIFIED
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assert not cp.dashcamOnly
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assert [(config.safetyModel.raw, config.safetyParam) for config in cp.safetyConfigs] == [
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(config.safetyModel.raw, config.safetyParam) for config in stock.safetyConfigs
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]
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assert cp.openpilotLongitudinalControl == stock.openpilotLongitudinalControl
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assert cp.pcmCruise == stock.pcmCruise
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expected = {
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CAR.HONDA_CIVIC: (0.3, 0.1),
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CAR.HONDA_ACCORD: (0.3, 0.09),
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CAR.HONDA_CIVIC_BOSCH: (0.8, 0.24),
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CAR.HONDA_CRV_5G: (0.21, 0.07),
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}[candidate]
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assert list(cp.lateralTuning.pid.kpV) == pytest.approx([expected[0]])
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assert list(cp.lateralTuning.pid.kiV) == pytest.approx([expected[1]])
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lookup = CarControllerParams(cp)
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if candidate == CAR.HONDA_CIVIC:
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assert lookup.STEER_MAX == 8000
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assert lookup.STEER_LOOKUP == [-8000, -2560, 0, 2560, 8000]
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assert lookup.STEER_LOOKUP_V == [-3840, -2560, 0, 2560, 3840]
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elif candidate == CAR.HONDA_CRV_5G:
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assert lookup.STEER_MAX == 10000
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assert lookup.STEER_LOOKUP == [-10000, -2560, 0, 2560, 10000]
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assert lookup.STEER_LOOKUP_V == [-3840, -2560, 0, 2560, 3840]
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else:
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assert lookup.STEER_LOOKUP_V == lookup.STEER_LOOKUP
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@pytest.mark.parametrize("candidate,version", KNOWN_CASES)
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@pytest.mark.parametrize("case", ("unknown", "wrong-identity", "wrong-address", "wrong-subaddress", "mixed", "mixed-stock"))
|
||||
def test_unrecognized_or_inconsistent_modified_eps_remains_dashcam(candidate, version, case):
|
||||
actual_candidate = CAR.HONDA_CRV_HYBRID if case == "wrong-identity" else candidate
|
||||
value = b"39990-UNKNOWN,0000\x00\x00" if case == "unknown" else version
|
||||
firmware = [eps(value, 0x18DA31F1 if case == "wrong-address" else 0x18DA30F1, 1 if case == "wrong-subaddress" else 0)]
|
||||
if case == "mixed":
|
||||
firmware.append(eps(b"39990-UNKNOWN,0000\x00\x00"))
|
||||
if case == "mixed-stock":
|
||||
firmware.append(eps(b"39990-UNKNOWN-0000\x00\x00"))
|
||||
cp = params(actual_candidate, firmware)
|
||||
assert cp.dashcamOnly
|
||||
assert not cp.flags & HondaFlags.EPS_MODIFIED
|
||||
|
||||
|
||||
@pytest.mark.parametrize("candidate", tuple(SOURCE_BASELINES))
|
||||
def test_stock_lookup_and_tunes_do_not_acquire_modified_marker(candidate):
|
||||
cp = params(candidate, [])
|
||||
assert not cp.flags & HondaFlags.EPS_MODIFIED
|
||||
lookup = CarControllerParams(cp)
|
||||
assert lookup.STEER_LOOKUP_V == lookup.STEER_LOOKUP
|
||||
|
||||
|
||||
def test_recognized_modified_eps_inventory_is_exact_original_subset():
|
||||
assert set(KNOWN_CASES) == {(car, version) for car, versions in MODIFIED_EPS_FW.items() for version in versions}
|
||||
@@ -0,0 +1,47 @@
|
||||
import pytest
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
from opendbc.car.honda.tests.test_modified_eps import KNOWN_CASES, eps, params
|
||||
from opendbc.car.honda.values import CAR
|
||||
|
||||
|
||||
@pytest.mark.parametrize("identity,firmware", KNOWN_CASES)
|
||||
def test_actual_modified_factory_controller_consumes_separate_lookup(identity, firmware):
|
||||
cp = params(identity, [eps(firmware)])
|
||||
ci = CarInterface(cp)
|
||||
ci.update([])
|
||||
cc = structs.CarControl(latActive=True)
|
||||
cc.actuators.torque = 1.0
|
||||
emitted = []
|
||||
for tick in range(250):
|
||||
actuators, frames = ci.apply(cc.as_reader(), 1_000_000_000 + tick * 10_000_000)
|
||||
assert frames
|
||||
emitted.append(actuators.torqueOutputCan)
|
||||
expected_max = 3840 if identity in (CAR.HONDA_CIVIC, CAR.HONDA_CRV_5G) else ci.CC.params.STEER_MAX
|
||||
assert max(abs(value) for value in emitted) <= expected_max
|
||||
assert abs(emitted[-1]) >= expected_max - 1
|
||||
assert (ci.CC.modified_civic_steering is not None) == (identity == CAR.HONDA_CIVIC_BOSCH)
|
||||
|
||||
|
||||
def test_actual_modified_civic_driver_override_and_inactive_reset():
|
||||
cp = params(CAR.HONDA_CIVIC_BOSCH, [eps(b'39990-TGG,A020\x00\x00')])
|
||||
ci = CarInterface(cp)
|
||||
ci.update([])
|
||||
cc = structs.CarControl(latActive=True)
|
||||
cc.actuators.torque = 0.8
|
||||
for tick in range(20):
|
||||
ci.CS.out = structs.CarState(vEgo=15.0, steeringPressed=True, steeringTorque=-1.0).as_reader()
|
||||
ci.apply(cc.as_reader(), 1_000_000_000 + tick * 10_000_000)
|
||||
owner = ci.CC.modified_civic_steering
|
||||
assert owner.steering_pressed_robust_prev
|
||||
assert owner.torque_lpf == owner.prev_torque_cmd == 0.0
|
||||
cc.latActive = False
|
||||
ci.apply(cc.as_reader(), 1_200_000_000)
|
||||
assert owner.steering_pressed_filter_s == 0.0
|
||||
assert not owner.steering_pressed_robust_prev
|
||||
|
||||
|
||||
def test_ordinary_civic_has_no_modified_filter_owner():
|
||||
ci = CarInterface(params(CAR.HONDA_CIVIC_BOSCH, [eps(b'39990-TBA-C120\x00\x00')]))
|
||||
assert ci.CC.modified_civic_steering is None
|
||||
@@ -34,8 +34,7 @@ STARTUP_CASES = (
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("identity", STARTUP_CASES)
|
||||
def test_final_cp_publication_and_disabled_startup(identity, monkeypatch):
|
||||
def exercise_final_cp_publication_and_disabled_startup(identity, monkeypatch, firmware=()):
|
||||
from opendbc.car import car_helpers
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.common.params import Params
|
||||
@@ -58,9 +57,12 @@ def test_final_cp_publication_and_disabled_startup(identity, monkeypatch):
|
||||
selected_gear = messages.get("GEARBOX_AUTO") or messages.get("GEARBOX_CVT")
|
||||
assert selected_gear is not None
|
||||
fingerprint[pt_bus][selected_gear.address] = selected_gear.size
|
||||
initial = CarInterface.get_params(identity, fingerprint, [], False, False, False)
|
||||
initial = CarInterface.get_params(identity, fingerprint, list(firmware), False, False, False)
|
||||
initial.carVin = "0" * 17
|
||||
initial.carFw = []
|
||||
initial.carFw = list(firmware)
|
||||
if firmware:
|
||||
assert initial.flags & HondaFlags.EPS_MODIFIED
|
||||
assert not initial.dashcamOnly
|
||||
expected = initial.to_dict()
|
||||
with OpenpilotPrefix():
|
||||
saved = Params()
|
||||
@@ -69,7 +71,7 @@ def test_final_cp_publication_and_disabled_startup(identity, monkeypatch):
|
||||
subscriber = messaging.sub_sock("carParams", timeout=100, conflate=True)
|
||||
card = ci = controls = None
|
||||
try:
|
||||
observed = (identity, fingerprint, initial.carVin, [], initial.fingerprintSource, True)
|
||||
observed = (identity, fingerprint, initial.carVin, list(firmware), initial.fingerprintSource, True)
|
||||
with monkeypatch.context() as discovery:
|
||||
discovery.setattr(car_helpers, "fingerprint", lambda *args: observed)
|
||||
discovery.setattr(card_module, "can_comm_callbacks", lambda *args: (lambda *args: [], lambda frames: None))
|
||||
@@ -100,3 +102,21 @@ def test_final_cp_publication_and_disabled_startup(identity, monkeypatch):
|
||||
finally:
|
||||
del controls, card, ci, subscriber
|
||||
gc.collect()
|
||||
|
||||
|
||||
@pytest.mark.parametrize("identity", STARTUP_CASES)
|
||||
def test_final_cp_publication_and_disabled_startup(identity, monkeypatch):
|
||||
exercise_final_cp_publication_and_disabled_startup(identity, monkeypatch)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("identity,version", (
|
||||
(CAR.HONDA_CIVIC, b"39990-TBA,A030\x00\x00"),
|
||||
(CAR.HONDA_ACCORD, b"39990-TVA,A150\x00\x00"),
|
||||
(CAR.HONDA_CIVIC_BOSCH, b"39990-TGG,A020\x00\x00"),
|
||||
(CAR.HONDA_CIVIC_BOSCH, b"39990-TGG,A120\x00\x00"),
|
||||
(CAR.HONDA_CRV_5G, b"39990-TLA,A040\x00\x00"),
|
||||
))
|
||||
def test_known_modified_eps_final_cp_publication_and_disabled_startup(identity, version, monkeypatch):
|
||||
firmware = (structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x18DA30F1,
|
||||
subAddress=0, fwVersion=version, brand="honda"),)
|
||||
exercise_final_cp_publication_and_disabled_startup(identity, monkeypatch, firmware)
|
||||
|
||||
@@ -65,6 +65,16 @@ class CarControllerParams:
|
||||
# Odyssey MMR uses up to 2560 for LKA; higher RDM commands are nonlinear and also apply brake drag.
|
||||
self.STEER_MAX = 2560
|
||||
self.STEER_LOOKUP = [-self.STEER_MAX, 0, self.STEER_MAX]
|
||||
self.STEER_LOOKUP_V = list(self.STEER_LOOKUP)
|
||||
if CP.flags & HondaFlags.EPS_MODIFIED:
|
||||
if CP.carFingerprint == CAR.HONDA_CIVIC:
|
||||
self.STEER_MAX = 8000
|
||||
self.STEER_LOOKUP = [-8000, -2560, 0, 2560, 8000]
|
||||
self.STEER_LOOKUP_V = [-3840, -2560, 0, 2560, 3840]
|
||||
elif CP.carFingerprint == CAR.HONDA_CRV_5G:
|
||||
self.STEER_MAX = 10000
|
||||
self.STEER_LOOKUP = [-10000, -2560, 0, 2560, 10000]
|
||||
self.STEER_LOOKUP_V = [-3840, -2560, 0, 2560, 3840]
|
||||
|
||||
|
||||
class HondaSafetyFlags(IntFlag):
|
||||
@@ -97,6 +107,7 @@ class HondaFlags(IntFlag):
|
||||
HAS_BSM = 1024 # blind spot monitoring
|
||||
HYBRID = 2048
|
||||
BOSCH_TJA_CONTROL = 4096
|
||||
EPS_MODIFIED = 8192
|
||||
|
||||
|
||||
# Car button codes
|
||||
@@ -472,6 +483,13 @@ class CAR(Platforms):
|
||||
)
|
||||
|
||||
|
||||
MODIFIED_EPS_FW = {
|
||||
CAR.HONDA_CIVIC: (b'39990-TBA,A030\x00\x00',),
|
||||
CAR.HONDA_ACCORD: (b'39990-TVA,A150\x00\x00',),
|
||||
CAR.HONDA_CIVIC_BOSCH: (b'39990-TGG,A020\x00\x00', b'39990-TGG,A120\x00\x00'),
|
||||
CAR.HONDA_CRV_5G: (b'39990-TLA,A040\x00\x00',),
|
||||
}
|
||||
|
||||
MANUAL_TRANS_CARS = frozenset((CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022))
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
Reference in New Issue
Block a user