2018+ Accord Manual 1.5L/2.0L

.gitmodules

@@ -3,7 +3,8 @@
   url = ../../commaai/panda.git
 [submodule "opendbc"]
   path = opendbc
-  url = ../../commaai/opendbc.git
+	url = ../../csouers/opendbc.git
+	branch = accordmanual
 [submodule "laika_repo"]
   path = laika_repo
   url = ../../commaai/laika.git

selfdrive/car/honda/carstate.py

@@ -39,10 +39,14 @@ def get_can_messages(CP, gearbox_msg):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-    messages.append((gearbox_msg, 50))
+
+  if CP.transmissionType != TransmissionType.manual:
+    if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+      messages.append((gearbox_msg, 50))
+    else:
+      messages.append((gearbox_msg, 100))
   else:
-    messages.append((gearbox_msg, 100))
+    messages.append(("GAS_PEDAL_2", 100))
 
   if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
     messages.append(("BRAKE_MODULE", 50))
@@ -88,15 +92,16 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.gearbox_msg = "GEARBOX"
-    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
-      self.gearbox_msg = "GEARBOX_15T"
-
     self.main_on_sig_msg = "SCM_FEEDBACK"
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
       self.main_on_sig_msg = "SCM_BUTTONS"
-
-    self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
+    self.gearbox_msg = "GEARBOX"
+    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
+      self.gearbox_msg = "GEARBOX_15T"
+    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.manual:
+      self.gearbox_msg = None
+    if self.gearbox_msg is not None:
+      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.brake_switch_prev = False
@@ -188,8 +193,16 @@ def update(self, cp, cp_cam, cp_body):
     if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
-    gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+    if self.CP.transmissionType != TransmissionType.manual:
+      gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+    else:
+      if bool(cp.vl["GAS_PEDAL_2"]['NEUTRAL']):
+        ret.gearShifter = 'neutral'
+      elif bool(cp.vl["SCM_FEEDBACK"]['REVERSE']):
+        ret.gearShifter = 'reverse'
+      else:
+        ret.gearShifter = 'drive'
 
     if self.CP.enableGasInterceptor:
       # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
@@ -242,6 +255,10 @@ def update(self, cp, cp_cam, cp_body):
         ret.brakePressed = True
 
     if self.CP.carFingerprint in HONDA_BOSCH:
+      if self.CP.transmissionType == TransmissionType.manual:
+        ret.clutchPressed = bool(cp.vl["GAS_PEDAL_2"]["CLUTCH_MAIN"] or cp.vl["GAS_PEDAL_2"]["CLUTCH_ACC"])
+      else:
+        ret.clutchPressed = False
       # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
       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)

selfdrive/car/honda/interface.py

@@ -59,8 +59,14 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
 
     # Accord 1.5T CVT has different gearbox message
-    if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
-      ret.transmissionType = TransmissionType.cvt
+    if candidate == CAR.ACCORD:
+      if 0x191 in fingerprint[1]:
+        ret.transmissionType = TransmissionType.cvt
+      # Accord 2.0 and Hybrid
+      elif 0x1a3 in fingerprint[1]:
+        ret.transmissionType = TransmissionType.automatic
+      else:
+        ret.transmissionType = TransmissionType.manual
 
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
     # which improves controls quality as it removes the steering column torsion from feedback.

selfdrive/car/honda/values.py

@@ -219,6 +219,7 @@ def init_make(self, CP: car.CarParams):
       b'37805-6B2-C520\x00\x00',
       b'37805-6A0-C540\x00\x00',
       b'37805-6A1-H650\x00\x00',
+      b'37805-6B2-A210\x00\x00',
       b'37805-6B2-A550\x00\x00',
       b'37805-6B2-A560\x00\x00',
       b'37805-6B2-A650\x00\x00',
@@ -310,6 +311,7 @@ def init_make(self, CP: car.CarParams):
       b'78109-TVA-A220\x00\x00',
       b'78109-TVA-A230\x00\x00',
       b'78109-TVA-A310\x00\x00',
+      b'78109-TVA-A420\x00\x00',
       b'78109-TVA-C010\x00\x00',
       b'78109-TVA-L010\x00\x00',
       b'78109-TVA-L210\x00\x00',
@@ -322,6 +324,7 @@ def init_make(self, CP: car.CarParams):
       b'78109-TVC-A210\x00\x00',
       b'78109-TVC-A220\x00\x00',
       b'78109-TVC-A230\x00\x00',
+      b'78109-TVC-A330\x00\x00',
       b'78109-TVC-C010\x00\x00',
       b'78109-TVC-C110\x00\x00',
       b'78109-TVC-L010\x00\x00',

selfdrive/car/interfaces.py

@@ -241,7 +241,7 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
     if cs_out.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
     if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
-       cs_out.gearShifter not in extra_gears):
+       cs_out.gearShifter not in extra_gears) and not cs_out.clutchPressed:
       events.add(EventName.wrongGear)
     if cs_out.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)