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Honda: Car Port Acura Integra #1722

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Honda: Car Port Acura Integra #1722

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5de22c8
rebase Integra
vanillagorillaa Feb 15, 2025
e43ba07
remove
vanillagorillaa Feb 16, 2025
6de5ca1
update test route
vanillagorillaa Feb 17, 2025
85abb35
Merge branch 'commaai:master' into integra2
vanillagorillaa Feb 20, 2025
c58a66d
move safety
vanillagorillaa Feb 20, 2025
c49a2b2
add Integra
vanillagorillaa Feb 20, 2025
065830b
Revert "add Integra"
vanillagorillaa Feb 21, 2025
8987d48
Merge branch 'master' into integra2
vanillagorillaa Feb 24, 2025
5ef81c2
update Integra fw versions
vanillagorillaa Feb 26, 2025
67a0854
Merge branch 'master' into integra2
vanillagorillaa Feb 28, 2025
15485ae
fix
vanillagorillaa Mar 9, 2025
31415c6
Merge branch 'master' into integra2
vanillagorillaa Mar 9, 2025
999a989
Merge branch 'master' into integra2
vanillagorillaa Mar 11, 2025
e09ff61
fix this
vanillagorillaa Mar 12, 2025
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22 changes: 16 additions & 6 deletions opendbc/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@

def get_can_messages(CP, gearbox_msg):
messages = [
("ENGINE_DATA", 100),
("WHEEL_SPEEDS", 50),
("STEERING_SENSORS", 100),
("SEATBELT_STATUS", 10),
Expand All @@ -33,6 +32,11 @@ def get_can_messages(CP, gearbox_msg):
("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
]

if CP.carFingerprint != CAR.ACURA_INTEGRA:
messages += [
("ENGINE_DATA", 100), # Not found on Integra, but still want to check all others
]

if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
messages += [
("SCM_FEEDBACK", 25),
Expand All @@ -44,7 +48,7 @@ def get_can_messages(CP, gearbox_msg):
("SCM_BUTTONS", 25),
]

if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.ACURA_INTEGRA):
messages.append((gearbox_msg, 50))
else:
messages.append((gearbox_msg, 100))
Expand All @@ -70,7 +74,7 @@ def get_can_messages(CP, gearbox_msg):

# TODO: clean this up
if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.ACURA_INTEGRA):
pass
elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
pass
Expand Down Expand Up @@ -136,10 +140,13 @@ def update(self, can_parsers) -> structs.CarState:
# ******************* parse out can *******************
# STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
# panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
if self.CP.carFingerprint == CAR.ACURA_INTEGRA:
ret.standstill = cp.vl["CAR_SPEED"]["CAR_SPEED"] < 1e-5
Comment on lines +143 to +144
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I'm definitely not in love with this message, it's almost certainly intended for instrument cluster display. Low frequency, high arb ID, and has a considerable response lag.

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I can take another look to see what we have, or can use

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In a pinch, there's a message that has ABS wheel speed sensor impulse integral, and that doesn't have the 2 kmh cutoff. We'd have to calibrate it against the main reference speed, but there's precedent and support for briefly suppressing engagement for steering angle sensor calibration and the like.

The reason I asked about stock ACC is that I'd be surprised if it does FtS/SnG if its own reference source has the 2kmh cutoff.

else:
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.ACURA_INTEGRA):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
Expand Down Expand Up @@ -178,7 +185,10 @@ def update(self, can_parsers) -> structs.CarState:

# blend in transmission speed at low speed, since it has more low speed accuracy
v_weight = float(np.interp(v_wheel, v_weight_bp, v_weight_v))
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
if self.CP.carFingerprint == CAR.ACURA_INTEGRA:
ret.vEgoRaw = (1. - v_weight) * cp.vl["CAR_SPEED"]["CAR_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
else:
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)

self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
Expand Down
28 changes: 28 additions & 0 deletions opendbc/car/honda/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -910,4 +910,32 @@
b'28101-65J-N010\x00\x00',
],
},
CAR.ACURA_INTEGRA: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-T38-A040\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-3S5-A110\x00\x00',
b'38897-3S5-A210\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-3S5-A920\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-3S5-CA30\x00\x00',
b'57114-3S5-CB30\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'8S102-3S5-AA10\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-6LP-A010\x00\x00',
],
(Ecu.hud, 0x18da61f1, None): [
b'78209-3S5-A030\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'39494-T20-A010\x00\x00',
],
},
}
2 changes: 1 addition & 1 deletion opendbc/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022, CAR.ACURA_INTEGRA):
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]]

Expand Down
10 changes: 8 additions & 2 deletions opendbc/car/honda/values.py
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Expand Up @@ -196,6 +196,12 @@ class CAR(Platforms):
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
{Bus.pt: 'acura_rdx_2020_can_generated'},
)
ACURA_INTEGRA = HondaBoschPlatformConfig(
[HondaCarDocs("Acura Integra 2024", "All")],
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
{Bus.pt: 'honda_civic_ex_2022_can_generated'},
flags=HondaFlags.BOSCH_RADARLESS,
)

# Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig(
Expand Down Expand Up @@ -314,9 +320,9 @@ class CAR(Platforms):
# Note that we still attempt to match with them when they are present
# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
non_essential_ecus={
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.ACURA_INTEGRA],
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.ACURA_INTEGRA],
},
extra_ecus=[
(Ecu.combinationMeter, 0x18da60f1, None),
Expand Down
1 change: 1 addition & 0 deletions opendbc/car/tests/routes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,7 @@ class CarTestRoute(NamedTuple):
CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
CarTestRoute("1f032f5173c8ad99/00000006--573b3fcaf5", HONDA.HONDA_CIVIC_2022), # Civic Type R with manual transmission
CarTestRoute("3f8ae015ce70365f/00000003--a22590d0e4", HONDA.ACURA_INTEGRA),

CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
Expand Down
1 change: 1 addition & 0 deletions opendbc/car/torque_data/substitute.toml
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Expand Up @@ -51,6 +51,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
"HONDA_E" = "HONDA_CIVIC_BOSCH"
"HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
"ACURA_INTEGRA" = "HONDA_CIVIC_2022"

"BUICK_LACROSSE" = "CHEVROLET_VOLT"
"BUICK_REGAL" = "CHEVROLET_VOLT"
Expand Down
6 changes: 4 additions & 2 deletions opendbc/safety/safety/safety_honda.h
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Expand Up @@ -6,7 +6,8 @@
#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
{.msg = {{0x1A6, (pt_bus), 8, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \
{0x296, (pt_bus), 4, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \
{.msg = {{0x158, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
{.msg = {{0x158, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, /* ENGINE_DATA */ \
{0x309, (pt_bus), 8, .max_counter = 3U, .frequency = 10U}, { 0 }}}, /* CAR_SPEED */ \
{.msg = {{0x17C, (pt_bus), 8, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \

#define HONDA_COMMON_RX_CHECKS(pt_bus) \
Expand Down Expand Up @@ -80,7 +81,8 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
int bus = GET_BUS(to_push);

// sample speed
if (addr == 0x158) {
// 0x158 used for all suported Hondas except Integra (use 0x309 car_speed message)
if ((addr == 0x158) || (addr == 0x309)){
Comment on lines +84 to +85
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The 0x309 case and its corresponding RxCheck aren't exercised in tests. I'm not sure we can depend on it anyway, so it may be irrelevant.

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will leave for the moment. Maybe we can find another message for speed

// first 2 bytes
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
Expand Down