Honda: Port 2024 Integra

[vanillagorillaa]

Checklist

• added entry to CAR in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• test route added to routes.py
• route with openpilot: 3f8ae015ce70365f/0000002b--d07abeff02
• route with stock system: 3f8ae015ce70365f/0000002d--eae3aa3f16
• car harness used (if comma doesn't sell it, put N/A): Bosch B

Requires

• Honda Radarless: Create&send buttons to camera when engaged. #31022
• Honda Radarless: only forward buttons frame when controls are off. panda#1814
• WIP: Acura integra safety panda#1930
• Honda: DBC signals for manual trans gear position opendbc#1034

[github-actions]

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[sshane]

We've moved the car interfacing code to our opendbc repository, which is now the new home for car ports and fingerprints. Please re-open your pull request against opendbc at your convenience by using this command below. This will transform all changes under selfdrive/car/ to opendbc_repo/opendbc/car/. Make sure you have initialized submodules beforehand and have checked out the latest opendbc commit.

PR_NUMBER=33045
curl -L https://github.com/commaai/openpilot/pull/$PR_NUMBER.patch | sed -e 's/selfdrive\/car/opendbc_repo\/opendbc\/car/g' | git apply -v --reject

Simply replace the PR number with your own. Once done, add the files, fix any conflicts, and open a new PR. Alternatively, you may start a new PR from scratch if that is easier for you.

[jyoung8607]

Have looked this over, and as @vanillagorillaa outlined, it boils down into three basic pieces:

• HONDA_BOSCH_RADARLESS button spam fixes, @csouers is reworking this, not Integra specific and not a blocker
• Manual trans support, for which I'll open a standalone PR, likewise not Integra specific and not a blocker
• A simple HONDA_BOSCH_RADARLESS model port with a different wheel speed message, will work on this

[csouers]

I have manual transmission stuff in an accord branch. It's pretty simple. Never tried op long though. Will post it here when I have a moment today.

[csouers]

The code changes are meh but i think you'll get the gist. Lots of driving (years) on this w/ stock ACC. Mainly used on the 2.0l. Also the 1.5l too, IIRC.

car

csouers@93cb788?diff=split

• set up gearbox for the shifter "positions"
• only check for wrong gear when the clutch is engaged/pedal is at rest. OP throws the wrongGear event in between gears otherwise.
• set the TransmissionType to manual. I did the others here but they are probably out of scope.
• include the clutch bits; there are two on the accord (at least the 2.0l).
• • The first triggers at the very beginning of the stroke which the ACC uses to stop accelerating.
• • The second triggers much further down the stroke and is likely the neutral safety switch.

Probably need to make the clutchPressed part of the pedalPressed event. I did at one time but didn't bother here.

dbc

csouers/opendbc@79fe33a