Merge branch 'master' into odyssey-singapore

Author: mvl-boston

SConscript

@@ -1,6 +1,4 @@
-Import("env")
-
-SConscript(['opendbc/dbc/SConscript'], exports={'env': env})
+SConscript(['opendbc/dbc/SConscript'])
 
 # test files
 if GetOption('extras'):

SConstruct

@@ -1,64 +1,11 @@
-import os
-import subprocess
-import platform
-
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-
-cpppath = [
-  '#',
-  '/usr/lib/include',
-]
-
 AddOption('--minimal',
           action='store_false',
           dest='extras',
           default=True,
           help='the minimum build. no tests, tools, etc.')
 
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-# safety options
 AddOption('--ubsan',
           action='store_true',
           help='turn on UBSan')
 
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='gcc',
-  CXX='g++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-vla-cxx-extension",
-    "-Wno-unknown-warning-option",  # for compatibility across compiler versions
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-  CFLAGS="-std=gnu11",
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=cpppath,
-  tools=["default", "compilation_db"]
-)
-if arch != "Darwin":
-  env.Append(CCFLAGS=["-fmax-errors=1", ])
-
-env.CompilationDatabase('compile_commands.json')
-
-Export('env', 'arch')
-
 SConscript(['SConscript'])

docs/CARS.md

@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 380 Known Cars
+# Support Information for 383 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -9,13 +9,16 @@
 |Acura|Integra 2023-25|All|[Community](#community)|
 |Acura|MDX 2015-16|Advance Package|[Community](#community)|
 |Acura|MDX 2017-20|All|[Community](#community)|
+|Acura|MDX 2022-24|All|[Community](#community)|
 |Acura|MDX 2025|All except Type S|[Upstream](#upstream)|
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
 |Acura|RDX 2019-21|All|[Upstream](#upstream)|
 |Acura|RDX 2022-25|All|[Community](#community)|
 |Acura|RLX 2017|Advance Package or Technology Package|[Community](#community)|
 |Acura|TLX 2015-17|Advance Package|[Community](#community)|
 |Acura|TLX 2018-20|All|[Community](#community)|
+|Acura|TLX 2021|All|[Upstream](#upstream)|
+|Acura|TLX 2022-23|All|[Community](#community)|
 |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)|

opendbc/car/common/filter_simple.py

@@ -2,17 +2,43 @@ class FirstOrderFilter:
   # first order filter
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
-    self.dt = dt
+    self._dt = dt
     self.update_alpha(rc)
     self.initialized = initialized
 
+  def update_dt(self, dt):
+    self._dt = dt
+    self.update_alpha(self._rc)
+
   def update_alpha(self, rc):
-    self.alpha = self.dt / (rc + self.dt)
+    self._rc = rc
+    self._alpha = self._dt / (self._rc + self._dt)
 
   def update(self, x):
     if self.initialized:
-      self.x = (1. - self.alpha) * self.x + self.alpha * x
+      self.x = (1. - self._alpha) * self.x + self._alpha * x
     else:
       self.initialized = True
       self.x = x
     return self.x
+
+
+class HighPassFilter:
+  # technically a band-pass filter
+  def __init__(self, x0, rc1, rc2, dt, initialized=True):
+    self.x = x0
+    self._f1 = FirstOrderFilter(x0, rc1, dt, initialized)
+    self._f2 = FirstOrderFilter(x0, rc2, dt, initialized)
+    assert rc2 > rc1, "rc2 must be greater than rc1"
+
+  def update_dt(self, dt):
+    self._f1.update_dt(dt)
+    self._f2.update_dt(dt)
+
+  def update_alpha(self, rc1, rc2):
+    self._f1.update_alpha(rc1)
+    self._f2.update_alpha(rc2)
+
+  def update(self, x):
+    self.x = self._f1.update(x) - self._f2.update(x)
+    return self.x

opendbc/car/honda/carcontroller.py

@@ -4,7 +4,7 @@
 from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
 from opendbc.car.honda import hondacan
 from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
-                                     HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+                                     HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from opendbc.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -94,6 +94,7 @@ def __init__(self, dbc_names, CP):
     self.packer = CANPacker(dbc_names[Bus.pt])
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)
+    self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
 
     self.braking = False
     self.brake_steady = 0.
@@ -151,7 +152,7 @@ def update(self, CC, CS, now_nanos):
         can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
 
     # Send steering command.
-    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive))
+    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
 
     # wind brake from air resistance decel at high speed
     wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])

opendbc/car/honda/hondacan.py

@@ -114,10 +114,11 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
   return commands
 
 
-def create_steering_control(packer, CAN, apply_torque, lkas_active):
+def create_steering_control(packer, CAN, apply_torque, lkas_active, tja_control):
   values = {
     "STEER_TORQUE": apply_torque if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
+    "STEER_DOWN_TO_ZERO": lkas_active and tja_control,
   }
   return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
 

opendbc/car/honda/values.py

@@ -78,8 +78,9 @@ class HondaFlags(IntFlag):
   BOSCH_ALT_RADAR = 512
   ALLOW_MANUAL_TRANS = 1024
   HYBRID = 2048
-  # reserving 4096 for hybrid brakehold
-  NO_CARSPEED = 8192 # Some foreign models do not have carspeed
+  BOSCH_TJA_CONTROL = 4096
+  # reserving 8192 for hybrid brakehold
+  NO_CARSPEED = 16384 # Some foreign models do not have carspeed
 
 
 # Car button codes
@@ -368,6 +369,7 @@ class CAR(Platforms):
 HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
 HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
 HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
+HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
 
 
 DBC = CAR.create_dbc_map()

opendbc/car/tests/routes.py

@@ -225,6 +225,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("7e34a988419b5307/2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2),  # hybrid
   CarTestRoute("2475fb3eb2ffcc2e/2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
   CarTestRoute("20ba9ade056a8c7b/2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME),  # SecOC
+  CarTestRoute("41ba5b181f29435d/00000001--e3ae76382f", TOYOTA.TOYOTA_RAV4_PRIME),  # SecOC longitudinal
   CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN),  # SecOC
   CarTestRoute("0b54d0594d924cd9/00000057--b6206a3205", TOYOTA.TOYOTA_YARIS),  # SecOC
   CarTestRoute("7a31f030957b9c85/2023-04-01--14-12-51", TOYOTA.LEXUS_ES),

opendbc/car/toyota/carcontroller.py

@@ -4,7 +4,7 @@
 from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
 from opendbc.car.can_definitions import CanData
 from opendbc.car.carlog import carlog
-from opendbc.car.common.filter_simple import FirstOrderFilter
+from opendbc.car.common.filter_simple import FirstOrderFilter, HighPassFilter
 from opendbc.car.common.pid import PIDController
 from opendbc.car.secoc import add_mac, build_sync_mac
 from opendbc.car.interfaces import CarControllerBase
@@ -65,8 +65,8 @@ def __init__(self, dbc_names, CP):
     # *** start long control state ***
     self.long_pid = get_long_tune(self.CP, self.params)
     self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3)
-    self.pitch = FirstOrderFilter(0, 0.25, DT_CTRL)
-    self.pitch_slow = FirstOrderFilter(0, 1.5, DT_CTRL)
+    self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
+    self.pitch_hp = HighPassFilter(0.0, 0.25, 1.5, DT_CTRL)
 
     self.accel = 0
     self.prev_accel = 0
@@ -76,6 +76,7 @@ def __init__(self, dbc_names, CP):
 
     self.secoc_lka_message_counter = 0
     self.secoc_lta_message_counter = 0
+    self.secoc_acc_message_counter = 0
     self.secoc_prev_reset_counter = 0
 
   def update(self, CC, CS, now_nanos):
@@ -87,7 +88,7 @@ def update(self, CC, CS, now_nanos):
 
     if len(CC.orientationNED) == 3:
       self.pitch.update(CC.orientationNED[1])
-      self.pitch_slow.update(CC.orientationNED[1])
+      self.pitch_hp.update(CC.orientationNED[1])
 
     # *** control msgs ***
     can_sends = []
@@ -97,6 +98,7 @@ def update(self, CC, CS, now_nanos):
       if CS.secoc_synchronization['RESET_CNT'] != self.secoc_prev_reset_counter:
         self.secoc_lka_message_counter = 0
         self.secoc_lta_message_counter = 0
+        self.secoc_acc_message_counter = 0
         self.secoc_prev_reset_counter = CS.secoc_synchronization['RESET_CNT']
 
         expected_mac = build_sync_mac(self.secoc_key, int(CS.secoc_synchronization['TRIP_CNT']), int(CS.secoc_synchronization['RESET_CNT']))
@@ -228,8 +230,7 @@ def update(self, CC, CS, now_nanos):
           if not stopping:
             # Toyota's PCM slowly responds to changes in pitch. On change, we amplify our
             # acceleration request to compensate for the undershoot and following overshoot
-            high_pass_pitch = self.pitch.x - self.pitch_slow.x
-            pitch_compensation = float(np.clip(math.sin(high_pass_pitch) * ACCELERATION_DUE_TO_GRAVITY,
+            pitch_compensation = float(np.clip(math.sin(self.pitch_hp.x) * ACCELERATION_DUE_TO_GRAVITY,
                                                -MAX_PITCH_COMPENSATION, MAX_PITCH_COMPENSATION))
             pcm_accel_cmd += pitch_compensation
 
@@ -250,8 +251,19 @@ def update(self, CC, CS, now_nanos):
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
+        main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
+        can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
                                                         CS.acc_type, fcw_alert, self.distance_button))
+        if self.CP.flags & ToyotaFlags.SECOC.value:
+          acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
+          acc_cmd_2 = add_mac(self.secoc_key,
+                              int(CS.secoc_synchronization['TRIP_CNT']),
+                              int(CS.secoc_synchronization['RESET_CNT']),
+                              self.secoc_acc_message_counter,
+                              acc_cmd_2)
+          self.secoc_acc_message_counter += 1
+          can_sends.append(acc_cmd_2)
+
         self.accel = pcm_accel_cmd
 
     else:

opendbc/car/toyota/carstate.py

@@ -6,7 +6,8 @@
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
-                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
+                                                  SECOC_CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
@@ -190,14 +191,14 @@ def update(self, can_parsers) -> structs.CarState:
         buttonEvents.extend(create_button_events(1, 0, {1: ButtonType.lkas}) +
                             create_button_events(0, 1, {1: ButtonType.lkas}))
 
-      if self.CP.carFingerprint not in RADAR_ACC_CAR:
+      if self.CP.carFingerprint not in (RADAR_ACC_CAR | SECOC_CAR):
         # distance button is wired to the ACC module (camera or radar)
         prev_distance_button = self.distance_button
         self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
 
         buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-    ret.buttonEvents = buttonEvents
 
+    ret.buttonEvents = buttonEvents
     return ret
 
   @staticmethod