FrogPilot community - Honda Clarity Port

Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>

panda/board/safety/safety_honda.h

@@ -82,6 +82,7 @@ const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
 const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
 const uint16_t HONDA_PARAM_RADARLESS = 8;
 const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16;
+const uint16_t HONDA_PARAM_CLARITY = 32;
 
 enum {
   HONDA_BTN_NONE = 0,
@@ -97,6 +98,7 @@ bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
 bool honda_bosch_long = false;
 bool honda_bosch_radarless = false;
+bool honda_clarity_brake_msg = false;
 enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
 
 
@@ -237,6 +239,9 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
       bool honda_stock_aeb = GET_BIT(to_push, 29U);
       int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
 
+      if (honda_clarity_brake_msg) {
+        honda_stock_brake = (GET_BYTE(to_push, 6) << 2) + ((GET_BYTE(to_push, 7) >> 6) & 0x3U);
+      }
       // Forward AEB when stock braking is higher than openpilot braking
       // only stop forwarding when AEB event is over
       if (!honda_stock_aeb) {
@@ -293,6 +298,9 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
   // BRAKE: safety check (nidec)
   if ((addr == 0x1FA) && (bus == bus_pt)) {
     honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
+    if (honda_clarity_brake_msg) {
+      honda_brake = (GET_BYTE(to_send, 6) << 2) + ((GET_BYTE(to_send, 7) >> 6) & 0x3U);
+    }
     if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
       tx = false;
     }
@@ -381,6 +389,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   honda_bosch_long = false;
   honda_bosch_radarless = false;
   enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
+  honda_clarity_brake_msg = GET_FLAG(param, HONDA_PARAM_CLARITY);
 
   safety_config ret;
 

panda/python/__init__.py

@@ -201,6 +201,7 @@ class Panda:
   FLAG_HONDA_NIDEC_ALT = 4
   FLAG_HONDA_RADARLESS = 8
   FLAG_HONDA_GAS_INTERCEPTOR = 16
+  FLAG_HONDA_CLARITY = 32
 
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2

selfdrive/car/honda/carstate.py

@@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
   if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
     messages.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
@@ -78,6 +78,8 @@ def get_can_messages(CP, gearbox_msg):
 
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     messages.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.carFingerprint == CAR.CLARITY:
+    messages.append(("BRAKE_ERROR", 100)),
   elif CP.openpilotLongitudinalControl:
     messages.append(("STANDSTILL", 50))
 
@@ -148,6 +150,8 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
+    elif self.CP.carFingerprint == CAR.CLARITY:
+      ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"])
     else:
       # On some cars, these two signals are always 1, this flag is masking a bug in release
       # FIXME: find and set the ACC faulted signals on more platforms
@@ -186,7 +190,7 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@@ -251,7 +255,8 @@ class CarState(CarStateBase):
       if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
         ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
+      aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE"
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5)
 
     self.acc_hud = False
     self.lkas_hud = False

selfdrive/car/honda/fingerprints.py

@@ -1419,4 +1419,29 @@ FW_VERSIONS = {
       b'37805-64S-AA10\x00\x00',
     ],
   },
+  CAR.CLARITY: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TRW-A910\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TRW-A010\x00\x00',
+      b'57114-TRW-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TRW-A020\x00\x00',
+      b'39990-TRW,A020\x00\x00',  # modified firmware
+      b'39990,TRW,A020\x00\x00',  # extra modified firmware
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TRW-A210\x00\x00',
+      b'77959-TRW-A220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TRW-A010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TRW-A020\x00\x00',
+      b'78109-TRW-A030\x00\x00',
+    ],
+  },
 }

selfdrive/car/honda/hondacan.py

@@ -53,8 +53,6 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   pcm_fault_cmd = False
 
   values = {
-    "COMPUTER_BRAKE": apply_brake,
-    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
@@ -67,6 +65,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
+
+  if car_fingerprint == CAR.CLARITY:
+    values["COMPUTER_BRAKE_ALT"] = apply_brake
+    values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0
+  else:
+    values["COMPUTER_BRAKE"] = apply_brake
+    values["BRAKE_PUMP_REQUEST"] = pump_on
+
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 

selfdrive/car/honda/interface.py

@@ -196,6 +196,21 @@ class CarInterface(CarInterfaceBase):
       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]] # TODO: can probably use some tuning
 
+    elif candidate == CAR.CLARITY:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
+      if eps_modified:
+        for fw in car_fw:
+          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralTuning.pid.kf = 0.00004
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]]
+            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
+          elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [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 = [[0.8], [0.24]]
+
     else:
       raise ValueError(f"unsupported car {candidate}")
 
@@ -223,7 +238,7 @@ class CarInterface(CarInterfaceBase):
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1

selfdrive/car/honda/values.py

@@ -202,6 +202,12 @@ class CAR(Platforms):
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
+  CLARITY = HondaNidecPlatformConfig(
+    "HONDA CLARITY 2018",
+    [HondaCarDocs("Honda Clarity 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4052. * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.50, tireStiffnessFactor=1.),
+    dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
+  )
   CRV = HondaNidecPlatformConfig(
     "HONDA CR-V 2016",
     [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],

selfdrive/car/torque_data/params.toml

@@ -14,6 +14,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA ACCORD 2018" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
 "HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
 "HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+"HONDA CLARITY 2018" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
 "HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
 "HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
 "HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]