Hotfix: revert 2021 Accord (commaai#22063) (commaai#22065)

* bump panda * Revert "Car Port: 2021 Accord 2.0 Touring & Hybrid Touring (commaai#22007)" This reverts commit 7e53a42. * revert release notes * bump panda
Aragon7777 · Aug 29, 2021 · 58bdb27 · 58bdb27
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diff --git a/README.md b/README.md
@@ -67,8 +67,8 @@ Supported Cars
 | Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-21                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-21         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |

diff --git a/RELEASES.md b/RELEASES.md
@@ -8,8 +8,6 @@ Version 0.8.8 (2021-08-27)
  * NEOS 18 for comma two: update packages
  * AGNOS 1.3 for comma three: fix display init at high temperatures
  * Improved auto-exposure on comma three
- * Honda Accord 2021 support thanks to csouers!
- * Honda Accord Hybrid 2021 support thanks to csouers!
  * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
  * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
  * Kia Niro Hybrid 2021 support thanks to tetious!

diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
@@ -7,8 +7,8 @@
 //      brake rising edge
 //      brake > 0mph
 const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
-const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}, {0x33DA, 2, 5}, {0x33DB, 2, 8}};  // Bosch Giraffe
-const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}};  // Bosch Harness
+const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}};  // Bosch Giraffe
+const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}};  // Bosch Harness
 const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}};  // Bosch Giraffe w/ gas and brakes
 const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}};  // Bosch Harness w/ gas and brakes
 
@@ -274,7 +274,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     }
   }
 
-  // Bosch supplemental control check
+    // Bosch supplemental control check
   if (addr == 0xE5) {
     if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
       tx = 0;
@@ -376,7 +376,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
     }
     if (bus_num == bus_rdr_cam)  {
       int addr = GET_ADDR(to_fwd);
-      int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
+      int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
       if (!is_lkas_msg) {
         bus_fwd = bus_rdr_car;
       }

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
@@ -119,7 +119,7 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
     else:
       checks += [("CRUISE_PARAMS", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@@ -230,7 +230,7 @@ def update(self, cp, cp_cam, cp_body):
 
     # ******************* parse out can *******************
     # TODO: find wheels moving bit in dbc
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
       ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -279,7 +279,7 @@ def update(self, cp, cp_cam, cp_body):
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"]
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH,
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
       self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
       main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"]

diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_EXT, CAR
+from selfdrive.car.honda.values import HONDA_BOSCH, CAR
 from selfdrive.config import Conversions as CV
 from selfdrive.swaglog import cloudlog
 
@@ -169,18 +169,12 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
+    'SET_ME_X48': 0x48,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes,
     'BEEP': 0,
   }
-  if car_fingerprint not in HONDA_BOSCH_EXT:
-    lkas_hud_values['SET_ME_X48'] = 0x48
-
-  if car_fingerprint in HONDA_BOSCH_EXT and not openpilot_longitudinal_control:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
-  else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+  commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
 
   if radar_disabled and car_fingerprint in HONDA_BOSCH:
     radar_hud_values = {

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -158,7 +158,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       tire_stiffness_factor = 1.
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021):
+    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
       ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
@@ -51,8 +51,6 @@ class CruiseButtons:
 class CAR:
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
-  ACCORD_2021 = "HONDA ACCORD 2021"
-  ACCORDH_2021 = "HONDA ACCORD HYBRID 2021"
   CIVIC = "HONDA CIVIC 2016"
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
   CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
@@ -289,89 +287,19 @@ class CAR:
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TWA-A080\x00\x00',
       b'36802-TWA-A070\x00\x00',
+      b'36802-TWA-A330\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TVA-A160\x00\x00',
       b'39990-TVA-A150\x00\x00',
       b'39990-TVA-A340\x00\x00',
     ],
   },
-  CAR.ACCORD_2021: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6B2-C520\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28102-6B8-A700\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TVA-A320\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TVA-A020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TVA-E520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TVA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TVC-A230\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TVC-A910\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TVC-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TVC-A330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A340\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A120\x00\x00',
-    ],
-  },
-  CAR.ACCORDH_2021: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TWD-J020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A340\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A120\x00\x00',
-    ],
-  },
   CAR.CIVIC: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A640\x00\x00',
@@ -1301,9 +1229,7 @@ class CAR:
 
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORD_2021: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORDH_2021: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
@@ -1341,8 +1267,5 @@ class CAR:
 }
 
 OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G])
-
-# Bosch models with alternate set of LKAS_HUD messages
-HONDA_BOSCH_EXT = set([CAR.ACCORD_2021, CAR.ACCORDH_2021])
+HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])