Honda: Port 2024 Integra

selfdrive/car/honda/carcontroller.py

@@ -203,11 +203,28 @@ def update(self, CC, CS, now_nanos):
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
-      # If using stock ACC, spam cancel command to kill gas when OP disengages.
+      # Buttons: spam the cancel or resume buttons.
+      cruise = None
+      setting = CruiseButtons.NONE
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
-      elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        cruise = CruiseButtons.CANCEL
+      elif self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS and CC.cruiseControl.resume:
+        cruise = CruiseButtons.RES_ACCEL
+      elif self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and CC.enabled and self.frame % 4 == 0:
+        # Send buttons to the camera when engaged. Only send the LKAS button to turn off stock LKAS off so it can't disengage cruise.
+        # Priority: pcm_cancel > user > auto resume > turn off lkas > none/idle
+        cruise = CruiseButtons.NONE
+        if CS.cruise_buttons or (CS.cruise_setting and CS.cruise_setting != CruiseButtons.LKAS):
+          cruise = CS.cruise_buttons
+          setting = CS.cruise_setting
+        # simulate a momentary press
+        elif self.frame % 100 <= 25:
+          if CC.cruiseControl.resume:
+            cruise = CruiseButtons.RES_ACCEL
+          elif CS.lkas_hud['ENABLED']:
+            setting = CruiseButtons.LKAS
+      if cruise is not None:
+        can_sends.append(hondacan.create_buttons_command(self.packer, self.CAN, cruise, setting, CS.scm_buttons, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.

selfdrive/car/honda/carstate.py

@@ -8,15 +8,14 @@
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
-                                                 HondaFlags
+                                                 HondaFlags, GearShifter
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
 
 
 def get_can_messages(CP, gearbox_msg):
   messages = [
-    ("ENGINE_DATA", 100),
     ("WHEEL_SPEEDS", 50),
     ("STEERING_SENSORS", 100),
     ("SEATBELT_STATUS", 10),
@@ -38,8 +37,11 @@ def get_can_messages(CP, gearbox_msg):
       ("SCM_FEEDBACK", 10),
       ("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 not in (CAR.ACURA_INTEGRA):
+    messages += [
+      ("ENGINE_DATA", 100),
+    ]
+  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))
@@ -65,7 +67,7 @@ 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
@@ -87,12 +89,15 @@ def __init__(self, CP):
     self.gearbox_msg = "GEARBOX"
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
+    elif CP.transmissionType == TransmissionType.manual:
+      self.gearbox_msg = "GEARBOX_BOH"
 
     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"]
+    if CP.transmissionType != TransmissionType.manual:
+        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
@@ -123,10 +128,13 @@ def update(self, cp, cp_cam, cp_body):
     # ******************* 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
+    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"])
@@ -165,7 +173,10 @@ def update(self, cp, cp_cam, cp_body):
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     v_weight = 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
@@ -184,8 +195,16 @@ def update(self, cp, cp_cam, cp_body):
     if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_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:
+      ret.clutchPressed = cp.vl["GEARBOX_BOH"]["GEAR_MT"] == 0
+      if cp.vl["GEARBOX_BOH"]["GEAR_MT"] == 14:
+        ret.gearShifter = GearShifter.reverse
+      else:
+        ret.gearShifter = GearShifter.drive
+    else:
+      gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5
@@ -200,6 +219,7 @@ def update(self, cp, cp_cam, cp_body):
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
 
       if not self.CP.openpilotLongitudinalControl:
+        self.scm_buttons = cp.vl["SCM_BUTTONS"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else {}
         # ACC_HUD is on camera bus on radarless cars
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0

selfdrive/car/honda/fingerprints.py

@@ -1411,4 +1411,28 @@
       b'37805-64S-AA10\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.combinationMeter, 0x18da60f1, None): [
+      b'78108-3S5-AC20\x00\x00',
+      b'78108-3S5-A220\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-3S5-CA30\x00\x00',
+      b'57114-3S5-CB30\x00\x00'
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-6LM-A020\x00\x00',
+      b'37805-6LM-A520\x00\x00',
+    ],
+  },
 }

selfdrive/car/honda/hondacan.py

@@ -167,7 +167,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
 
   lkas_hud_values = {
-    'SET_ME_X41': 0x41,
+    'ENABLED': 1,
+    'SET_ME_X20': 0x20,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
@@ -201,11 +202,17 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
   return commands
 
 
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
+def create_buttons_command(packer, CAN, button_val, setting_val, stock_scm_buttons, car_fingerprint):
   values = {
-    'CRUISE_BUTTONS': button_val,
-    'CRUISE_SETTING': 0,
+    'CRUISE_BUTTONS': button_val
   }
+  # Radarless: set CRUISE_SETTING & forward unmodified data bits
+  if len(stock_scm_buttons):
+    values.update({
+      'CRUISE_SETTING': setting_val,
+      'BOH_1': stock_scm_buttons['BOH_1'],
+      'BOH_2': stock_scm_buttons['BOH_2'],
+    })
   # send buttons to camera on radarless cars
   bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)

selfdrive/car/honda/interface.py

@@ -62,6 +62,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # Accord ICE 1.5T CVT has different gearbox message
     if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
       ret.transmissionType = TransmissionType.cvt
+    # Integra has MT option
+    elif candidate == CAR.ACURA_INTEGRA and 0x191 not in fingerprint[CAN.pt]:
+      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.
@@ -103,7 +106,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         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]]
 

selfdrive/car/honda/values.py

@@ -10,6 +10,7 @@
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+GearShifter = car.CarState.GearShifter
 
 
 class CarControllerParams:
@@ -66,6 +67,11 @@ class CruiseButtons:
   DECEL_SET = 3
   CANCEL = 2
   MAIN = 1
+  NONE = 0
+
+# CRUISE_SETTINGS
+  DISTANCE = 3
+  LKAS = 1  
 
 
 class CruiseSettings:
@@ -183,6 +189,12 @@ class CAR(Platforms):
     CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
     dbc_dict('acura_rdx_2020_can_generated', None),
   )
+  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),
+    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    flags=HondaFlags.BOSCH_RADARLESS,
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(

selfdrive/car/tests/routes.py

@@ -96,6 +96,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
+  CarTestRoute("3f8ae015ce70365f/0000002b--d07abeff02", 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),

selfdrive/car/torque_data/substitute.toml

@@ -48,6 +48,7 @@ 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"