Merge remote-tracking branch 'upstream/master'

Author: zhou jielei

.github/ISSUE_TEMPLATE/misc.yml

@@ -0,0 +1,36 @@
+name: Miscellaneous
+description: For tools or test bugs, or enhancements
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+        Before creating a **miscellaneous bug report**, please check the following:
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+
+  - type: textarea
+    attributes:
+      label: Describe the bug or enhancement
+      description: Also include a description of how to reproduce the bug or how the enhancement would work
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs if applicable
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version if applicable
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+
+  - type: textarea
+    attributes:
+      label: Additional info

.github/workflows/car_diff.yml

@@ -9,13 +9,14 @@ jobs:
     name: comment
     runs-on: ubuntu-latest
     timeout-minutes: 10
-    continue-on-error: true
     permissions:
       contents: read
       pull-requests: write
       actions: read
     steps:
     - name: Wait for car diff
+      id: wait
+      continue-on-error: true
       uses: lewagon/wait-on-check-action@v1.3.4
       with:
         ref: ${{ github.event.pull_request.head.sha }}
@@ -24,6 +25,7 @@ jobs:
         allowed-conclusions: success
         wait-interval: 20
     - name: Download car diff
+      if: steps.wait.outcome == 'success'
       uses: dawidd6/action-download-artifact@v6
       with:
         github_token: ${{ secrets.GITHUB_TOKEN }}
@@ -34,6 +36,7 @@ jobs:
         path: .
         allow_forks: true
     - name: Comment car diff on PR
+      if: steps.wait.outcome == 'success'
       uses: thollander/actions-comment-pull-request@v2
       with:
         filePath: diff.txt

docs/CARS.md

@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 385 Known Cars
+# Support Information for 387 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -19,6 +19,7 @@
 |Acura|TLX 2018-20|All|[Community](#community)|
 |Acura|TLX 2021|All|[Upstream](#upstream)|
 |Acura|TLX 2022-23|All|[Community](#community)|
+|Acura|TLX 2025|All|[Upstream](#upstream)|
 |Acura|ZDX 2024|All|[Not compatible](#can-bus-security)|
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -114,6 +115,7 @@
 |Honda|N-Box 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Odyssey 2021-26|All|[Upstream](#upstream)|
+|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|[Upstream](#upstream)|
 |Honda|Passport 2019-25|All|[Upstream](#upstream)|
 |Honda|Passport 2026|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
@@ -149,7 +151,7 @@
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Nexo 2021|All|[Upstream](#upstream)|
 |Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
-|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
+|Hyundai|Palisade 2023-24|Highway Driving Assist II|[Community](#community)|
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Santa Fe 2019-20|All|[Upstream](#upstream)|
 |Hyundai|Santa Fe 2021-23|All|[Upstream](#upstream)|
@@ -208,7 +210,7 @@
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Stinger 2022-23|All|[Upstream](#upstream)|
 |Kia|Telluride 2020-22|All|[Upstream](#upstream)|
-|Kia|Telluride 2023-24|HDA2|[Community](#community)|
+|Kia|Telluride 2023-24|Highway Driving Assist II|[Community](#community)|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
 |Lexus|ES 2017-18|All|[Upstream](#upstream)|
 |Lexus|ES 2019-25|All|[Upstream](#upstream)|

opendbc/car/chrysler/radar_interface.py

@@ -73,8 +73,8 @@ def update(self, can_strings):
       if 'LONG_DIST' in cpt:  # c_* message
         self.pts[trackId].dRel = cpt['LONG_DIST']  # from front of car
         # our lat_dist is positive to the right in car's frame.
-        # TODO what does yRel want?
-        self.pts[trackId].yRel = cpt['LAT_DIST']  # in car frame's y axis, left is positive
+        # LAT_DIST is right-positive, yRel is left-positive
+        self.pts[trackId].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
       else:  # d_* message
         self.pts[trackId].vRel = cpt['REL_SPEED']
 

opendbc/car/extra_cars.py

@@ -55,8 +55,8 @@ class CAR(Platforms):
 
   EXTRA_HYUNDAI = ExtraPlatformConfig(
     [
-      CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
-      CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
+      CommunityCarDocs("Hyundai Palisade 2023-24", "Highway Driving Assist II"),
+      CommunityCarDocs("Kia Telluride 2023-24", "Highway Driving Assist II"),
     ],
   )
 

opendbc/car/honda/carstate.py

@@ -48,6 +48,8 @@ def __init__(self, CP):
     # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
+    self.is_metric = False
+    self.v_cruise_factor = 1.
 
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -68,7 +70,8 @@ def update(self, can_parsers) -> structs.CarState:
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
 
     # used for car hud message
-    self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
+    # TODO: find CAR_SPEED for HONDA_ODYSSEY_TWN or use ACC_HUD w/ detection
+    self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
     self.v_cruise_factor = CV.MPH_TO_MS if self.dynamic_v_cruise_units and not self.is_metric else CV.KPH_TO_MS
 
     # ******************* parse out can *******************
@@ -127,10 +130,11 @@ def update(self, can_parsers) -> structs.CarState:
 
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
-    self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
-    if self.dash_speed_seen:
-      conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-      ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
+    if self.CP.carFingerprint not in (CAR.HONDA_ODYSSEY_TWN,):
+      self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
+      if self.dash_speed_seen:
+        conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+        ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
 
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]

opendbc/car/honda/fingerprints.py

@@ -220,10 +220,12 @@
       b'57114-TBG-A340\x00\x00',
       b'57114-TBG-A350\x00\x00',
       b'57114-TGG-A340\x00\x00',
+      b'57114-TGG-C120\x00\x00',
       b'57114-TGG-C320\x00\x00',
       b'57114-TGG-G320\x00\x00',
       b'57114-TGG-L320\x00\x00',
       b'57114-TGG-L330\x00\x00',
+      b'57114-TGH-A130\x00\x00',
       b'57114-TGH-L130\x00\x00',
       b'57114-TGJ-Q330\x00\x00',
       b'57114-TGK-T320\x00\x00',
@@ -238,6 +240,7 @@
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
       b'39990-TGG-J510\x00\x00',
+      b'39990-TGH-J020\x00\x00',
       b'39990-TGH-J530\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
@@ -254,6 +257,7 @@
       b'77959-TGG-J320\x00\x00',
       b'77959-TGG-Q810\x00\x00',
       b'77959-TGG-Z820\x00\x00',
+      b'77959-TGH-E220\x00\x00',
       b'77959-TGH-J110\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
@@ -266,6 +270,7 @@
       b'36802-TGG-A130\x00\x00',
       b'36802-TGG-G040\x00\x00',
       b'36802-TGG-G130\x00\x00',
+      b'36802-TGH-A030\x00\x00',
       b'36802-TGH-A140\x00\x00',
       b'36802-TGK-Q030\x00\x00',
       b'36802-TGK-Q120\x00\x00',
@@ -282,6 +287,7 @@
       b'36161-TGG-G070\x00\x00',
       b'36161-TGG-G130\x00\x00',
       b'36161-TGG-G140\x00\x00',
+      b'36161-TGH-A020\x00\x00',
       b'36161-TGH-A140\x00\x00',
       b'36161-TGK-Q040\x00\x00',
       b'36161-TGK-Q120\x00\x00',
@@ -598,6 +604,17 @@
       b'54008-THR-A020\x00\x00',
     ],
   },
+  CAR.HONDA_ODYSSEY_TWN: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6A-J210\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6A-P110\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T6A-P040\x00\x00',
+    ],
+  },
   CAR.HONDA_ODYSSEY_5G_MMR: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-THR-A240\x00\x00',
@@ -1089,4 +1106,12 @@
       b'36161-TGV-A030\x00\x00',
     ],
   },
+  CAR.ACURA_TLX_2G_MMR: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-TGV-A030\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-TGV-A030\x00\x00',
+    ],
+  },
 }

opendbc/car/honda/interface.py

@@ -167,6 +167,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       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
 
+    elif candidate == CAR.HONDA_ODYSSEY_TWN:
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
+
     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]]
@@ -195,13 +199,18 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
         # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
         ret.minSteerSpeed = 70. * CV.KPH_TO_MS
 
+    elif candidate == CAR.ACURA_TLX_2G_MMR:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     else:
       ret.steerActuatorDelay = 0.15
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
+    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, *HONDA_BOSCH_CANFD):
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
 
     if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@@ -219,7 +228,12 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
     ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
-    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
+    if ret.autoResumeSng:
+      ret.minEnableSpeed = -1.
+    elif candidate == CAR.HONDA_ODYSSEY_TWN:
+      ret.minEnableSpeed = 19. * CV.MPH_TO_MS
+    else:
+      ret.minEnableSpeed = 25.51 * CV.MPH_TO_MS
 
     ret.steerLimitTimer = 0.8
     ret.radarDelay = 0.1

opendbc/car/honda/values.py

@@ -185,6 +185,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
+    flags=HondaFlags.ALLOW_MANUAL_TRANS,
   )
   HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
     [],  # don't show in docs
@@ -285,6 +286,11 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
     flags=HondaFlags.BOSCH_ALT_RADAR,
   )
+  # mid-model refresh
+  ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
+    [HondaCarDocs("Acura TLX 2025", "All")],
+    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
@@ -332,6 +338,12 @@ class CAR(Platforms):
     radar_dbc_dict('honda_odyssey_exl_2018_generated'),
     flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
   )
+  HONDA_ODYSSEY_TWN = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Odyssey (Taiwan) 2018-19")],
+    CarSpecs(mass=1865, wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
+    radar_dbc_dict('honda_odyssey_twn_2018_generated'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
   ACURA_RDX = HondaNidecPlatformConfig(
     [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec

opendbc/car/hyundai/fingerprints.py

@@ -698,6 +698,7 @@
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4971 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
@@ -1084,12 +1085,14 @@
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9240 14Q',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
       b'\xf1\x00NX4__               1.00 1.02 99110-N9000         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.01 1.02 99110-N9000         ',
     ],
   },
   CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {