Merge remote-tracking branch 'upstream/master' into odyssey_bosch

commaai · Oct 26, 2024 · 679dfb1 · 679dfb1
2 parents dc5d6ef + 92da02f
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diff --git a/docs/CARS.md b/docs/CARS.md
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 341 Known Cars
+# Support Information for 343 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -72,6 +72,7 @@
 |Honda|Civic 2022-24|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
+|Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V 2024|All|[Community](#community)|
@@ -85,6 +86,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
+|Honda|Odyssey 2021-25|All|[Community](#community)|
 |Honda|Passport 2019-23|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|
@@ -383,17 +385,21 @@ Although they're not upstream, the community has openpilot running on other make
 Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
 
 Some notable works-in-progress:
-* Honda CAN-FD vehicles
+* Honda
   * 2024 Acura Integra, commaai/openpilot#32056
-  * 2023-24 Honda Accord, commaai/openpilot#32229
-  * 2024 Honda CR-V, commaai/openpilot#32806
-  * 2024 Honda CR-V Hybrid, commaai/openpilot#31527, which depends on:
-    * commaai/opendbc#1100
-  * 2023-24 Honda Pilot, commaai/openpilot#30324
-* Honda camera ACC stability improvements
-  * commaai/openpilot#31022, which depends on:
-    * commaai/panda#1814
-    * commaai/opendbc#998
+  * 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
+  * 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
+  * 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
+    * Depends on commaai/opendbc#1100
+  * 2021-25 Honda Odyssey, commaai/opendbc#1330
+  * 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
+  * Camera ACC stability improvements, commaai/openpilot#31022
+    * Depends on commaai/panda#1814
+    * Depends on commaai/opendbc#998
+    * These are being reworked for full-time proxy through openpilot
+  * Manual transmission support (Civic, Integra)
+    * Depends on commaai/opendbc#1034 (merged)
+    * Car port support PR not yet filed
 
 ## Incompatible
 

diff --git a/opendbc/car/CARS_template.md b/opendbc/car/CARS_template.md
@@ -46,17 +46,21 @@ Although they're not upstream, the community has openpilot running on other make
 Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
 
 Some notable works-in-progress:
-* Honda CAN-FD vehicles
+* Honda
   * 2024 Acura Integra, commaai/openpilot#32056
-  * 2023-24 Honda Accord, commaai/openpilot#32229
-  * 2024 Honda CR-V, commaai/openpilot#32806
-  * 2024 Honda CR-V Hybrid, commaai/openpilot#31527, which depends on:
-    * commaai/opendbc#1100
-  * 2023-24 Honda Pilot, commaai/openpilot#30324
-* Honda camera ACC stability improvements
-  * commaai/openpilot#31022, which depends on:
-    * commaai/panda#1814
-    * commaai/opendbc#998
+  * 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
+  * 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
+  * 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
+    * Depends on commaai/opendbc#1100
+  * 2021-25 Honda Odyssey, commaai/opendbc#1330
+  * 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
+  * Camera ACC stability improvements, commaai/openpilot#31022
+    * Depends on commaai/panda#1814
+    * Depends on commaai/opendbc#998
+    * These are being reworked for full-time proxy through openpilot
+  * Manual transmission support (Civic, Integra)
+    * Depends on commaai/opendbc#1034 (merged)
+    * Car port support PR not yet filed
 
 ## Incompatible
 

diff --git a/opendbc/car/__init__.py b/opendbc/car/__init__.py
@@ -21,6 +21,8 @@
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
+
 ButtonType = structs.CarState.ButtonEvent.Type
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 

diff --git a/opendbc/car/body/carcontroller.py b/opendbc/car/body/carcontroller.py
@@ -1,70 +1,12 @@
 import numpy as np
-from numbers import Number
 
 from opendbc.can.packer import CANPacker
 from opendbc.car import DT_CTRL
-from opendbc.car.common.numpy_fast import clip, interp
+from opendbc.car.common.pid import PIDController
 from opendbc.car.body import bodycan
 from opendbc.car.body.values import SPEED_FROM_RPM
 from opendbc.car.interfaces import CarControllerBase
 
-
-class PIController:
-  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
-    self.speed = 0.0
-
-    self.reset()
-
-  @property
-  def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
-
-  @property
-  def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
-
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
-  def reset(self):
-    self.p = 0.0
-    self.i = 0.0
-    self.control = 0
-
-  def update(self, error, speed=0.0, freeze_integrator=False):
-    self.speed = speed
-
-    self.p = float(error) * self.k_p
-
-    i = self.i + error * self.k_i * self.i_rate
-    control = self.p + i
-
-    # Update when changing i will move the control away from the limits
-    # or when i will move towards the sign of the error
-    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-       not freeze_integrator:
-      self.i = i
-
-    control = self.p + self.i
-
-    self.control = clip(control, self.neg_limit, self.pos_limit)
-    return self.control
-
-
 MAX_TORQUE = 500
 MAX_TORQUE_RATE = 50
 MAX_ANGLE_ERROR = np.radians(7)
@@ -78,8 +20,8 @@ def __init__(self, dbc_name, CP):
     self.packer = CANPacker(dbc_name)
 
     # PIDs
-    self.turn_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.

diff --git a/opendbc/car/car.capnp b/opendbc/car/car.capnp
@@ -278,7 +278,7 @@ struct CarState {
       accelCruise @3;
       decelCruise @4;
       cancel @5;
-      altButton1 @6;
+      lkas @6;
       altButton2 @7;
       mainCruise @8;
       setCruise @9;
@@ -508,7 +508,6 @@ struct CarParams {
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
 
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   radarDelay @74 :Float32;
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
@@ -719,4 +718,5 @@ struct CarParams {
   maxSteeringAngleDegDEPRECATED @54 :Float32;
   longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
   stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
 }
diff --git a/opendbc/car/chrysler/fingerprints.py b/opendbc/car/chrysler/fingerprints.py
@@ -325,6 +325,7 @@
       b'68402703AB',
       b'68402704AB',
       b'68402708AB',
+      b'68402714AB',
       b'68402971AD',
       b'68454144AD',
       b'68454145AB',
@@ -362,6 +363,7 @@
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035674AB ',
+      b'68412635AE ',
       b'68412635AG ',
       b'68412660AD ',
       b'68422860AB',
@@ -468,6 +470,7 @@
       b'68535470AC',
       b'68548900AB',
       b'68586307AB',
+      b'68586307AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
@@ -545,6 +548,7 @@
       b'68378710AL ',
       b'68378742AI ',
       b'68378742AK ',
+      b'68378743AI ',
       b'68378743AM ',
       b'68378748AL ',
       b'68378758AM ',
@@ -559,6 +563,7 @@
       b'68455145AE ',
       b'68455146AC ',
       b'68460927AA ',
+      b'68467909AB ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -598,6 +603,7 @@
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360085AO',
       b'68360086AH',
       b'68360086AK',
       b'68360086AN',
@@ -608,6 +614,7 @@
       b'68445536AB',
       b'68445537AB',
       b'68466081AB',
+      b'68466086AB',
       b'68466087AB',
       b'68484466AC',
       b'68484467AC',

diff --git a/opendbc/car/common/pid.py b/opendbc/car/common/pid.py
@@ -0,0 +1,58 @@
+from numbers import Number
+from opendbc.car.common.numpy_fast import clip, interp
+
+
+class PIDController:
+  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = k_p
+    self._k_i = k_i
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+    self.i_unwind_rate = 0.3 / rate
+    self.i_rate = 1.0 / rate
+    self.speed = 0.0
+
+    self.reset()
+
+  @property
+  def k_p(self):
+    return interp(self.speed, self._k_p[0], self._k_p[1])
+
+  @property
+  def k_i(self):
+    return interp(self.speed, self._k_i[0], self._k_i[1])
+
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
+  def reset(self):
+    self.p = 0.0
+    self.i = 0.0
+    self.control = 0
+
+  def update(self, error, speed=0.0, freeze_integrator=False):
+    self.speed = speed
+
+    self.p = float(error) * self.k_p
+
+    i = self.i + error * self.k_i * self.i_rate
+    control = self.p + i
+
+    # Update when changing i will move the control away from the limits
+    # or when i will move towards the sign of the error
+    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+       not freeze_integrator:
+      self.i = i
+
+    control = self.p + self.i
+
+    self.control = clip(control, self.neg_limit, self.pos_limit)
+    return self.control
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
@@ -28,24 +28,26 @@ def init_make(self, CP: structs.CarParams):
 class CAR(Platforms):
   config: ExtraPlatformConfig
 
-  HONDA_CANFD = ExtraPlatformConfig(
+  EXTRA_HONDA = ExtraPlatformConfig(
     [
       CommunityCarDocs("Acura Integra 2024", "All"),
       CommunityCarDocs("Honda Accord 2023-24", "All"),
+      CommunityCarDocs("Honda Clarity 2018-21", "All"),
       CommunityCarDocs("Honda CR-V 2024", "All"),
       CommunityCarDocs("Honda CR-V Hybrid 2024", "All"),
+      CommunityCarDocs("Honda Odyssey 2021-25", "All"),
       CommunityCarDocs("Honda Pilot 2023-24", "All"),
     ],
   )
 
-  HYUNDAI_PALISADE_FACELIFT = ExtraPlatformConfig(
+  EXTRA_HYUNDAI = ExtraPlatformConfig(
     [
       CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
       CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
     ],
   )
 
-  TOYOTA_SECURITY_CARS = ExtraPlatformConfig(
+  EXTRA_TOYOTA = ExtraPlatformConfig(
     [
       ToyotaSecurityCarDocs("Subaru Solterra 2023-25"),
       ToyotaSecurityCarDocs("Lexus NS 2022-25"),
@@ -63,7 +65,7 @@ class CAR(Platforms):
     ],
   )
 
-  AUDI_FLEXRAY = ExtraPlatformConfig(
+  EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
     [
       FlexRayCarDocs("Audi A4 2016-24", package="All"),
       FlexRayCarDocs("Audi A5 2016-24", package="All"),