Honda: Car Port for Clarity 2018-22 (commaai#154)

* Fork

* Revert "Fork"

This reverts commit a10cb9677bcaf42010314b04d37dcb2e96b92057.

* I think this is it, to be tested.

* Correct panda

* update panda

* Revert "update panda"

This reverts commit 09d7cc9330c81528d355a4cea59be66d4106ae2b.

* Revert "Correct panda"

This reverts commit aa052a52e7895390753aa9c7feba0e47a933457c.

* Update sunnypilot_carname.json

* bump panda

* sort

* formatting

* could break OP long cars

* simpler

* separate

* missed

* format

* cleaner

* bump panda

* Clarity is not in HONDA_BOSCH_RADARLESS

* match

* update MY in docs

* format

* format

* Update CHANGELOGS.md

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

Author: mcallbosco

CHANGELOGS.md

@@ -1,3 +1,7 @@
+sunnypilot - 0.9.2.x (2023-02-22)
+========================
+* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
+
 sunnypilot - Version Latest (2023-02-22)
 ========================
 * UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2

panda

@@ -77,7 +77,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
     checks.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}):
     signals.append(("EPB_STATE", "EPB_STATUS"))
     checks.append(("EPB_STATUS", 50))
 
@@ -124,6 +124,12 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
     checks.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.carFingerprint == CAR.CLARITY:
+    signals += [
+      ("BRAKE_ERROR_1", "BRAKE_ERROR"),
+      ("BRAKE_ERROR_2", "BRAKE_ERROR")
+    ]
+    checks.append(("BRAKE_ERROR", 100)),
   elif CP.openpilotLongitudinalControl:
     signals += [
       ("BRAKE_ERROR_1", "STANDSTILL"),
@@ -197,6 +203,8 @@ def update(self, cp, cp_cam, cp_body):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
+    elif self.CP.carFingerprint == CAR.CLARITY:
+      self.brake_error = cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"]
     elif self.CP.openpilotLongitudinalControl:
       self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
@@ -227,7 +235,7 @@ def update(self, cp, cp_cam, cp_body):
     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"])
@@ -297,7 +305,8 @@ def update(self, cp, cp_cam, cp_body):
       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
@@ -338,7 +347,8 @@ def get_cam_can_parser(CP):
         checks.append(("ACC_HUD", 10))
 
     elif CP.carFingerprint not in HONDA_BOSCH:
-      signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
+      aeb_sig = "COMPUTER_BRAKE_ALT" if CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE"
+      signals += [(aeb_sig, "BRAKE_COMMAND"),
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),
                   ("CHIME", "BRAKE_COMMAND"),

selfdrive/car/honda/carstate.py

@@ -33,8 +33,6 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   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,
@@ -47,6 +45,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "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
+
   bus = get_pt_bus(car_fingerprint)
   return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 

selfdrive/car/honda/hondacan.py

@@ -272,6 +272,26 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       tire_stiffness_factor = 0.82
       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
+      ret.mass = 4052. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.steerRatio = 16.50  # 12.72 is end-to-end spec
+      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]]
+      tire_stiffness_factor = 1.
+
     else:
       raise ValueError(f"unsupported car {candidate}")
 
@@ -292,7 +312,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # 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
-    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor
     ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by

selfdrive/car/honda/interface.py

@@ -96,6 +96,7 @@ class CAR:
   RIDGELINE = "HONDA RIDGELINE 2017"
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
+  CLARITY = "HONDA CLARITY 2018"
 
 
 class Footnote(Enum):
@@ -151,6 +152,7 @@ def init_make(self, CP: car.CarParams):
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.CLARITY: HondaCarInfo("Honda Clarity 2018-22"),
 }
 
 HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -1553,6 +1555,31 @@ def init_make(self, CP: car.CarParams):
       b'37805-64D-P510\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',
+    ],
+  },
 }
 
 DBC = {
@@ -1579,6 +1606,7 @@ def init_make(self, CP: car.CarParams):
   CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
   CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
   CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
+  CAR.CLARITY: dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
 }
 
 STEER_THRESHOLD = {

selfdrive/car/honda/values.py

@@ -55,6 +55,7 @@
   "Honda Civic Hatchback 2017-21": "HONDA CIVIC (BOSCH) 2019",
   "Honda Civic Hatchback 2022": "HONDA CIVIC 2022",
   "Honda Civic Sedan 1.6 Diesel 2019": "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
+  "Honda Clarity 2018-22": "HONDA CLARITY 2018",
   "Honda CR-V 2015-16": "HONDA CR-V 2016",
   "Honda CR-V 2017-22": "HONDA CR-V 2017",
   "Honda CR-V EU 2016": "HONDA CR-V EU 2016",

selfdrive/car/sunnypilot_carname.json

@@ -15,6 +15,7 @@ HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
 HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
 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]