mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-04 13:02:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

honda

Browse Source
This commit is contained in:
firestar5683
2026-05-01 11:24:47 -05:00
parent 375a73891c
commit e57d75a3d7
5 changed files with 19 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/car/honda/carcontroller.py
+7 -4
View File
@@ -4,7 +4,7 @@ from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
from opendbc.car.honda import hondacan
from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams, HondaFlags
from opendbc.car.interfaces import CarControllerBase
from openpilot.starpilot.common.testing_grounds import testing_ground
@@ -18,7 +18,7 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
def get_civic_bosch_modified_steer_can_max(base_steer_can_max: int, CP) -> int:
if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and CP.dashcamOnly and civic_bosch_modified_lateral_testing_ground_active():
if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED) and civic_bosch_modified_lateral_testing_ground_active():
return CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX
return base_steer_can_max
@@ -170,7 +170,10 @@ class CarController(CarControllerBase):
self.steering_pressed_robust_prev = False
def _modified_civic_active(self) -> bool:
return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and self.CP.dashcamOnly and civic_bosch_modified_lateral_testing_ground_active()
return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED) and civic_bosch_modified_lateral_testing_ground_active()
def _modified_civic_standard_active(self) -> bool:
return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED)
def _filtered_steering_pressed(self, CS, torque_cmd: float) -> bool:
self.steering_pressed_filter_s, steering_pressed = get_civic_bosch_modified_steering_pressed(
@@ -198,7 +201,7 @@ class CarController(CarControllerBase):
torque_cmd = float(actuators.torque)
filtered_steering_pressed = bool(CS.out.steeringPressed)
if self._modified_civic_active():
if self._modified_civic_standard_active():
if CC.latActive:
filtered_steering_pressed = self._filtered_steering_pressed(CS, torque_cmd)
if filtered_steering_pressed:
opendbc_repo/opendbc/car/honda/interface.py
+3
View File
@@ -95,6 +95,9 @@ class CarInterface(CarInterfaceBase):
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if eps_modified:
ret.flags |= HondaFlags.EPS_MODIFIED.value
if candidate == CAR.HONDA_CIVIC:
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
opendbc_repo/opendbc/car/honda/tests/test_honda.py
+6 -3
View File
@@ -31,13 +31,12 @@ class TestHondaFingerprint:
def test_modified_civic_steer_can_max_is_scoped(self, monkeypatch):
CP = CarParams.new_message()
CP.carFingerprint = CAR.HONDA_CIVIC_BOSCH
CP.flags = int(HondaFlags.BOSCH)
CP.dashcamOnly = True
CP.flags = int(HondaFlags.BOSCH | HondaFlags.EPS_MODIFIED)
monkeypatch.setattr("opendbc.car.honda.carcontroller.civic_bosch_modified_lateral_testing_ground_active", lambda: True)
assert get_civic_bosch_modified_steer_can_max(4096, CP) == CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX
CP.dashcamOnly = False
CP.flags = int(HondaFlags.BOSCH)
assert get_civic_bosch_modified_steer_can_max(4096, CP) == 4096
def test_modified_civic_torque_lpf_tau_reacts_to_sign_change(self):
@@ -70,6 +69,7 @@ class TestHondaFingerprint:
civic_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TBA,A030\x00\x00', address=0x18da30f1, subAddress=0)]
civic_cp = CarInterface.get_params(CAR.HONDA_CIVIC, gen_empty_fingerprint(), civic_fw, False, False, False, toggles)
assert not civic_cp.dashcamOnly
assert civic_cp.flags & HondaFlags.EPS_MODIFIED
assert list(civic_cp.lateralParams.torqueBP) == [0, 2560, 8000]
assert list(civic_cp.lateralParams.torqueV) == [0, 2560, 3840]
assert list(civic_cp.lateralTuning.pid.kpV) == pytest.approx([0.3])
@@ -78,12 +78,14 @@ class TestHondaFingerprint:
accord_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TVA,A150\x00\x00', address=0x18da30f1, subAddress=0)]
accord_cp = CarInterface.get_params(CAR.HONDA_ACCORD, gen_empty_fingerprint(), accord_fw, False, False, False, toggles)
assert not accord_cp.dashcamOnly
assert accord_cp.flags & HondaFlags.EPS_MODIFIED
assert list(accord_cp.lateralTuning.pid.kpV) == pytest.approx([0.3])
assert list(accord_cp.lateralTuning.pid.kiV) == pytest.approx([0.09])
crv_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TLA,A040\x00\x00', address=0x18da30f1, subAddress=0)]
crv_cp = CarInterface.get_params(CAR.HONDA_CRV_5G, gen_empty_fingerprint(), crv_fw, False, False, False, toggles)
assert not crv_cp.dashcamOnly
assert crv_cp.flags & HondaFlags.EPS_MODIFIED
assert list(crv_cp.lateralParams.torqueBP) == [0, 2560, 10000]
assert list(crv_cp.lateralParams.torqueV) == [0, 2560, 3840]
assert list(crv_cp.lateralTuning.pid.kpV) == pytest.approx([0.21])
@@ -96,6 +98,7 @@ class TestHondaFingerprint:
CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)
assert not CP.dashcamOnly
assert CP.flags & HondaFlags.EPS_MODIFIED
assert list(CP.lateralParams.torqueBP) == [0, 4096]
assert list(CP.lateralParams.torqueV) == [0, 4096]
assert list(CP.lateralTuning.pid.kpV) == pytest.approx([0.8])
opendbc_repo/opendbc/car/honda/values.py
+1
View File
@@ -79,6 +79,7 @@ class HondaFlags(IntFlag):
ALLOW_MANUAL_TRANS = 1024
HYBRID = 2048
BOSCH_TJA_CONTROL = 4096
EPS_MODIFIED = 8192
# Car button codes
selfdrive/controls/lib/latcontrol_pid.py
+2 -2
View File
@@ -1,7 +1,7 @@
import math
from cereal import log
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
from openpilot.starpilot.common.testing_grounds import testing_ground
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController
@@ -42,7 +42,7 @@ class LatControlPID(LatControl):
pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.ff_factor = CP.lateralTuning.pid.kf
self.get_steer_feedforward = CI.get_steer_feedforward_function()
self.is_civic_bosch_modified = CP.carFingerprint == HONDA.HONDA_CIVIC_BOSCH and CP.dashcamOnly
self.is_civic_bosch_modified = CP.carFingerprint == HONDA.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
self.prev_angle_steers_des_no_offset = 0.0
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):