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firestar5683
2026-05-01 00:12:31 -05:00
parent 345747a042
commit eedcfe3c56
3 changed files with 79 additions and 7 deletions
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opendbc_repo/opendbc/car/honda/fingerprints.py
+5
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@@ -84,6 +84,7 @@ FW_VERSIONS = {
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TBX-H120\x00\x00',
b'39990-TVA,A150\x00\x00',
b'39990-TVA-A140\x00\x00',
b'39990-TVA-A150\x00\x00',
b'39990-TVA-A160\x00\x00',
@@ -163,6 +164,7 @@ FW_VERSIONS = {
b'57114-TEA-Q220\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TBA,A030\x00\x00',
b'39990-TBA-A030\x00\x00',
b'39990-TBG-A030\x00\x00',
b'39990-TEA-T020\x00\x00',
@@ -235,6 +237,8 @@ FW_VERSIONS = {
b'39990-TEA-T330\x00\x00',
b'39990-TEA-T820\x00\x00',
b'39990-TEZ-T020\x00\x00',
b'39990-TGG,A020\x00\x00',
b'39990-TGG,A120\x00\x00',
b'39990-TGG-A020\x00\x00',
b'39990-TGG-A120\x00\x00',
b'39990-TGG-J510\x00\x00',
@@ -368,6 +372,7 @@ FW_VERSIONS = {
b'57114-TMC-Z050\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TLA,A040\x00\x00',
b'39990-TLA-A040\x00\x00',
b'39990-TLA-A110\x00\x00',
b'39990-TLA-A220\x00\x00',
opendbc_repo/opendbc/car/honda/interface.py
+27 -7
View File
@@ -90,14 +90,24 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [0., 5., 35.]
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
# Disable control if EPS mod detected
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
ret.dashcamOnly = True
eps_modified = True
if candidate == CAR.HONDA_CIVIC:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
@@ -112,7 +122,10 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
@@ -124,8 +137,15 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_5G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_HYBRID:
opendbc_repo/opendbc/car/honda/tests/test_honda.py
+47
View File
@@ -1,6 +1,10 @@
import re
from types import SimpleNamespace
import pytest
from opendbc.car.structs import CarParams
from opendbc.car import gen_empty_fingerprint
from opendbc.car.honda.interface import CarInterface
from opendbc.car.honda.carcontroller import (
CIVIC_BOSCH_MODIFIED_STEER_CAN_MAX,
get_civic_bosch_modified_steer_can_max,
@@ -53,3 +57,46 @@ class TestHondaFingerprint:
def test_modified_civic_steering_pressed_filter_allows_opposing_driver_torque_quickly(self):
filter_s, pressed = get_civic_bosch_modified_steering_pressed(True, -1500.0, 0.8, 0.11, False)
assert pressed
def test_official_modified_eps_firmwares_restored(self):
assert b'39990-TVA,A150\x00\x00' in FW_VERSIONS[CAR.HONDA_ACCORD][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TBA,A030\x00\x00' in FW_VERSIONS[CAR.HONDA_CIVIC][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TGG,A020\x00\x00' in FW_VERSIONS[CAR.HONDA_CIVIC_BOSCH][(CarParams.Ecu.eps, 0x18da30f1, None)]
assert b'39990-TLA,A040\x00\x00' in FW_VERSIONS[CAR.HONDA_CRV_5G][(CarParams.Ecu.eps, 0x18da30f1, None)]
def test_modified_eps_candidates_keep_support_and_restore_upstream_tunes(self):
toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
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 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])
assert list(civic_cp.lateralTuning.pid.kiV) == pytest.approx([0.1])
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 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 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])
assert list(crv_cp.lateralTuning.pid.kiV) == pytest.approx([0.07])
def test_modified_civic_bosch_keeps_official_support(self):
toggles = SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False)
car_fw = [CarParams.CarFw(ecu=CarParams.Ecu.eps, fwVersion=b'39990-TGG,A020\x00\x00', address=0x18da30f1, subAddress=0)]
CP = CarInterface.get_params(CAR.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), car_fw, False, False, False, toggles)
assert not CP.dashcamOnly
assert list(CP.lateralParams.torqueBP) == [0, 4096]
assert list(CP.lateralParams.torqueV) == [0, 4096]
assert list(CP.lateralTuning.pid.kpV) == pytest.approx([0.8])
assert list(CP.lateralTuning.pid.kiV) == pytest.approx([0.24])