From 836636498db31de184e2ae38b931f3f720ae3b0b Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Thu, 9 May 2024 22:20:14 -0700
Subject: [PATCH] FrogPilot community - EPS mod - 17'-22' - Select Bosch
 civic's

Co-Authored-By: cfranyota <46506059+cfranyota@users.noreply.github.com>
---
 selfdrive/car/honda/fingerprints.py | 10 ++++++++++
 selfdrive/car/honda/interface.py    |  8 ++++++--
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 5296a91..6b2c83b 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -407,6 +407,16 @@ FW_VERSIONS = {
       b'39990-TGG-J510\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
+      #modded EPS bosch civic fw list
+      b'39990-TBA,C020\x00\x00',
+      b'39990-TBA,C120\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,J510\x00\x00',
+      b'39990-TGL,E130\x00\x00',
+      b'39990-TGN,E120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 935764c..8797687 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -108,8 +108,12 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
     elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
-      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 = [[0.8], [0.24]]
+      if eps_modified:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS
+      else:
+        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 = [[0.8], [0.24]]
 
     elif candidate == CAR.ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end