* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)

CHANGELOGS-DEV.md

@@ -20,6 +20,8 @@ dragonpilot 0.7.10.1
 * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
 * 加入 Dynamic gas Lite。(感謝 toyboxZ 提供)
 * Added Dynamic Gas Lite. (Thanks to toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
 
 dragonpilot 0.7.10.0
 ========================

CHANGELOGS-REL.md

@@ -37,6 +37,8 @@ dragonpilot 0.7.10.0
 * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
 * 加入 Dynamic gas Lite。(感謝 toyboxZ 提供)
 * Added Dynamic Gas Lite. (Thanks to toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
 
 dragonpilot 0.7.8
 ========================

CHANGELOGS.md

@@ -1,3 +1,8 @@
+2020-11-28 (0.7.10.0)
+========================
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+
 2020-11-20 (0.7.10.0)
 ========================
 * 加入 Dynamic gas Lite。(感謝 toyboxZ 提供)

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -418,13 +418,15 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
  SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
  SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
  SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
  SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
  SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -405,13 +405,15 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 927 RADAR_HUD: 8 RADAR
  SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
  SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
  SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
  SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
  SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
  SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 

selfdrive/car/honda/carcontroller.py

@@ -77,13 +77,13 @@ HUDData = namedtuple("HUDData",
 
 class CarControllerParams():
   def __init__(self, CP):
-      self.BRAKE_MAX = 1024//4
-      self.STEER_MAX = CP.lateralParams.torqueBP[-1]
-      # mirror of list (assuming first item is zero) for interp of signed request values
-      assert(CP.lateralParams.torqueBP[0] == 0)
-      assert(CP.lateralParams.torqueBP[0] == 0)
-      self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
-      self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
+    self.BRAKE_MAX = 1024//4
+    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
+    # mirror of list (assuming first item is zero) for interp of signed request values
+    assert(CP.lateralParams.torqueBP[0] == 0)
+    assert(CP.lateralParams.torqueBP[0] == 0)
+    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
+    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
@@ -100,6 +100,23 @@ class CarController():
     # dp
     self.last_blinker_on = False
     self.blinker_end_frame = 0.
+    self.prev_lead_distance = 0.0
+    self.stopped_lead_distance = 0.0
+    self.lead_distance_counter = 1
+    self.lead_distance_counter_prev = 1
+    self.rough_lead_speed = 0.0
+
+  def rough_speed(self, lead_distance):
+    if self.prev_lead_distance != lead_distance:
+      self.lead_distance_counter_prev = self.lead_distance_counter
+      self.rough_lead_speed += 0.3334 * (
+              (lead_distance - self.prev_lead_distance) / self.lead_distance_counter_prev - self.rough_lead_speed)
+      self.lead_distance_counter = 0.0
+    elif self.lead_distance_counter >= self.lead_distance_counter_prev:
+      self.rough_lead_speed = (self.lead_distance_counter * self.rough_lead_speed) / (self.lead_distance_counter + 1.0)
+    self.lead_distance_counter += 1.0
+    self.prev_lead_distance = lead_distance
+    return self.rough_lead_speed
 
   def update(self, enabled, CS, frame, actuators,
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel,
@@ -179,8 +196,23 @@ class CarController():
       elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
       elif CS.out.cruiseState.standstill:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
-
+        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
+          rough_lead_speed = self.rough_speed(CS.lead_distance)
+          if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
+            self.stopped_lead_distance = 0.0
+            can_sends.append(
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
+                                            CS.CP.isPandaBlack))
+        elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
+          if CS.hud_lead == 1:
+            can_sends.append(
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
+                                            CS.CP.isPandaBlack))
+        else:
+          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,CS.CP.isPandaBlack))
+      else:
+        self.stopped_lead_distance = CS.lead_distance
+        self.prev_lead_distance = CS.lead_distance
     else:
       # Send gas and brake commands.
       if (frame % 2) == 0:

selfdrive/car/honda/carstate.py

@@ -22,41 +22,42 @@ def calc_cruise_offset(offset, speed):
 def get_can_signals(CP):
   # this function generates lists for signal, messages and initial values
   signals = [
-      ("XMISSION_SPEED", "ENGINE_DATA", 0),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-      ("STEER_ANGLE", "STEERING_SENSORS", 0),
-      ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
-      ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
-      ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
-      ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
-      ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
-      ("GEAR", "GEARBOX", 0),
-      ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
-      ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
-      ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
-      ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
-      ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
-      ("ESP_DISABLED", "VSA_STATUS", 1),
-      ("USER_BRAKE", "VSA_STATUS", 0),
-      ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
-      ("STEER_STATUS", "STEER_STATUS", 5),
-      ("GEAR_SHIFTER", "GEARBOX", 0),
-      ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
-      ("CRUISE_SETTING", "SCM_BUTTONS", 0),
-      ("ACC_STATUS", "POWERTRAIN_DATA", 0),
+    ("XMISSION_SPEED", "ENGINE_DATA", 0),
+    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+    ("STEER_ANGLE", "STEERING_SENSORS", 0),
+    ("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
+    ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
+    ("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
+    ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
+    ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
+    ("GEAR", "GEARBOX", 0),
+    ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
+    ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
+    ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
+    ("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
+    ("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
+    ("ESP_DISABLED", "VSA_STATUS", 1),
+    ("USER_BRAKE", "VSA_STATUS", 0),
+    ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
+    ("HUD_LEAD", "ACC_HUD", 0),
+    ("STEER_STATUS", "STEER_STATUS", 5),
+    ("GEAR_SHIFTER", "GEARBOX", 0),
+    ("PEDAL_GAS", "POWERTRAIN_DATA", 0),
+    ("CRUISE_SETTING", "SCM_BUTTONS", 0),
+    ("ACC_STATUS", "POWERTRAIN_DATA", 0),
   ]
 
   checks = [
-      ("ENGINE_DATA", 100),
-      ("WHEEL_SPEEDS", 50),
-      ("STEERING_SENSORS", 100),
-      ("SEATBELT_STATUS", 10),
-      ("CRUISE", 10),
-      ("POWERTRAIN_DATA", 100),
-      ("VSA_STATUS", 50),
+    ("ENGINE_DATA", 100),
+    ("WHEEL_SPEEDS", 50),
+    ("STEERING_SENSORS", 100),
+    ("SEATBELT_STATUS", 10),
+    ("CRUISE", 10),
+    ("POWERTRAIN_DATA", 100),
+    ("VSA_STATUS", 50),
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -106,8 +107,13 @@ def get_can_signals(CP):
       checks += [("CRUISE_PARAMS", 10)]
     else:
       checks += [("CRUISE_PARAMS", 50)]
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
+    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1),
+                ("LEAD_DISTANCE", "RADAR_HUD", 0)]
+    checks += [("RADAR_HUD", 50)]
+  elif CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID,  CAR.ACURA_RDX_3G):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
+    checks += [("RADAR_HUD", 50)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
   elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
@@ -191,7 +197,11 @@ class CarState(CarStateBase):
 
     # ******************* parse out can *******************
     # TODO: find wheels moving bit in dbc
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
+      ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
+      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
+      self.lead_distance = cp.vl["RADAR_HUD"]['LEAD_DISTANCE']
+    elif self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID,  CAR.ACURA_RDX_3G):
       ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -234,8 +244,12 @@ class CarState(CarStateBase):
     ret.steeringRate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
 
     # dp - when user presses LKAS button on steering wheel
-    if self.cruise_setting == 1 and cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
-      self.lkMode = not self.lkMode
+    if self.cruise_setting == 1:
+      if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
+        if self.lkMode:
+          self.lkMode = False
+        else:
+          self.lkMode = True
 
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
@@ -311,6 +325,9 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(main_on)
     ret.cruiseState.nonAdaptive = self.cruise_mode != 0
 
+    # afa feature
+    self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
       if ret.brake > 0.05: