Honda: 2021-25 Honda Odyssey (dashcam)

opendbc/car/honda/carstate.py

@@ -2,7 +2,7 @@
 
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from opendbc.car import Bus, create_button_events, structs
+from opendbc.car import Bus, create_button_events, structs, DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import interp
 from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
@@ -44,7 +44,7 @@ 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.HONDA_ODYSSEY_BOSCH):
     messages.append((gearbox_msg, 50))
   else:
     messages.append((gearbox_msg, 100))
@@ -69,8 +69,9 @@ def get_can_messages(CP, gearbox_msg):
       messages.append(("CRUISE_PARAMS", 50))
 
   # TODO: clean this up
+  # TODO: verify odyssey_bosch
   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.HONDA_ODYSSEY_BOSCH):
     pass
   elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
@@ -99,6 +100,8 @@ def __init__(self, CP):
 
     self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
+    self.eps_steer_invalid_cnt = 0
+    self.min_steer_alert_speed = self.CP.minSteerSpeed
 
     self.brake_switch_prev = False
     self.brake_switch_active = False
@@ -112,6 +115,7 @@ def __init__(self, CP):
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
+    cp_loopback = can_parsers[Bus.loopback]
     if self.CP.enableBsm:
       cp_body = can_parsers[Bus.body]
 
@@ -134,9 +138,10 @@ def update(self, can_parsers) -> structs.CarState:
     # 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
+    # TODO: verify odyssey_bosch
     # 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.HONDA_ODYSSEY_BOSCH):
       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"])
@@ -145,6 +150,10 @@ def update(self, can_parsers) -> structs.CarState:
                           cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
     ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
 
+    # Triggered by STEER_TORQUE_REQUEST in CAN frame STEERING_CONTROL.
+    eps_steer_active = bool(cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"])
+    steer_requested_prev = bool(cp_loopback.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"])
+
     steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
     ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
     # LOW_SPEED_LOCKOUT is not worth a warning
@@ -262,6 +271,24 @@ def update(self, can_parsers) -> structs.CarState:
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
+    # Low speed steer alert logic; only for steer cutoffs above 6 m/s.
+    # Default to a brief early alert. A speed increase raises the alert threshold.
+    if ret.vEgo > (self.CP.minSteerSpeed + 3.5):
+      self.min_steer_alert_speed = self.CP.minSteerSpeed + 1.5
+    if ret.vEgo < self.CP.minSteerSpeed + 0.5:
+      self.min_steer_alert_speed = self.CP.minSteerSpeed
+    if self.CP.minSteerSpeed > 6.0:
+      ret.lowSpeedAlert = not ret.standstill and ret.vEgo < self.min_steer_alert_speed
+
+    # Depending on vehicle state, ODYSSEY_BOSCH can forcibly disengage lateral controls.
+    # Return a fault if the car hasn't enabled steering within 1000ms. Latches on until disengaged or if the EPS reports a fault.
+    if self.CP.carFingerprint == CAR.HONDA_ODYSSEY_BOSCH and not self.CP.openpilotLongitudinalControl:
+      if steer_requested_prev and not eps_steer_active:
+        self.eps_steer_invalid_cnt += 1
+      if eps_steer_active or not ret.cruiseState.enabled:
+        self.eps_steer_invalid_cnt = 0
+      ret.steerFaultTemporary |= self.eps_steer_invalid_cnt >= int(1. / DT_CTRL)
+
     if self.CP.enableBsm:
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
       # more info here: https://github.com/commaai/openpilot/pull/1867
@@ -300,9 +327,14 @@ def get_can_parsers(self, CP):
       ("BSM_STATUS_RIGHT", 3),
     ]
 
+    loopback_messages = [
+      ("STEERING_CONTROL", 0),
+    ]
+
     parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).camera),
+      Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, CanBus(CP).loopback),
     }
     if CP.enableBsm:
       parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], body_messages, CanBus(CP).radar)

opendbc/car/honda/fingerprints.py

@@ -561,6 +561,48 @@
       b'77959-T6A-P110\x00\x00',
     ],
   },
+  CAR.HONDA_ODYSSEY_BOSCH: {
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5MX-A100\x00\x00',
+      b'28102-5MX-A200\x00\x00',
+      b'28102-5MX-A410\x00\x00',
+      b'28102-5MX-C100\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-THR-A530\x00\x00',
+      b'46114-THR-A540\x00\x00',
+      b'46114-THR-A720\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-THR-A130\x00\x00',
+      b'38897-THR-A320\x00\x00',
+      b'38897-THR-A410\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THR-A050\x00\x00',
+      b'39990-THR-A110\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-THR-A220\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-THR-A220\x00\x00',
+      b'36161-THR-A230\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-THR-A310\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-THR-A220\x00\x00',
+      b'77959-THR-A230\x00\x00',
+      b'77959-THR-A320\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-THR-A230\x00\x00',
+      b'57114-THR-A240\x00\x00',
+      b'57114-THR-A520\x00\x00',
+    ],
+  },
   CAR.HONDA_PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',

opendbc/car/honda/hondacan.py

@@ -38,6 +38,10 @@ def camera(self) -> int:
   def lkas(self) -> int:
     return self._lkas
 
+  @property
+  def loopback(self) -> int:
+    return self._lkas + 128
+
   # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
   @property
   def body(self) -> int:
@@ -46,7 +50,8 @@ def body(self) -> int:
 
 def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
   # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
+  # TODO: ODYSSEY_BOSCH; Verify on both market spec models w/ both dashboard unit settings
+  return CV.MPH_TO_MS if car_fingerprint in (HONDA_BOSCH_RADARLESS | {CAR.HONDA_ODYSSEY_BOSCH}) and not is_metric else CV.KPH_TO_MS
 
 
 def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):

opendbc/car/honda/interface.py

@@ -27,6 +27,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
     ret.carName = "honda"
+    # ret.dashcamOnly = candidate == CAR.HONDA_ODYSSEY_BOSCH
 
     CAN = CanBus(ret, fingerprint)
 
@@ -161,6 +162,15 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
+    elif candidate == CAR.HONDA_ODYSSEY_BOSCH:
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      if not ret.openpilotLongitudinalControl:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # clipped by the radar
+      # TODO: change minSteerSpeed in values.py once Honda Bosch w/OP long is in release
+      else:
+        ret.minSteerSpeed = 0.
+
     elif candidate == CAR.HONDA_PILOT:
       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 = [[0.38], [0.11]]

opendbc/car/honda/values.py

@@ -104,6 +104,10 @@ class Footnote(Enum):
   CIVIC_DIESEL = CarFootnote(
     "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
     Column.FSR_STEERING)
+  OP_STEER_TO_ZERO = CarFootnote(
+    "This car is capable of ALC at all speeds when openpilot ACC is enabled. " +
+    "<b><i>NOTE: The car's radar and all related features such as AEB and FCW will be disabled.</i></b>",
+    Column.FSR_STEERING)
 
 
 class HondaBoschPlatformConfig(PlatformConfig):
@@ -174,6 +178,12 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_ex_2022_can_generated'},
     flags=HondaFlags.BOSCH_RADARLESS,
   )
+  HONDA_ODYSSEY_BOSCH = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Odyssey 2021-25", "All", footnotes=[Footnote.OP_STEER_TO_ZERO])],
+    CarSpecs(mass=2087, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82, minSteerSpeed=47. * CV.MPH_TO_MS),
+    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
   ACURA_RDX_3G = HondaBoschPlatformConfig(
     [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
@@ -308,9 +318,9 @@ 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.HONDA_ODYSSEY_BOSCH],
     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.HONDA_ODYSSEY_BOSCH],
   },
   extra_ecus=[
     (Ecu.combinationMeter, 0x18da60f1, None),

opendbc/car/tests/routes.py

@@ -96,6 +96,8 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
   CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
+  # TODO: UPDATE THIS
+  CarTestRoute("c443ca9eee127f66|2022-08-22--19-25-29", HONDA.HONDA_ODYSSEY_BOSCH),
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
   CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),

opendbc/car/torque_data/substitute.toml

@@ -50,6 +50,7 @@ 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"
+"HONDA_ODYSSEY_BOSCH" = "HONDA_ODYSSEY"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"