Merge branch 'commaai:master' into secoc-long

.github/workflows/update-cars-docs.yml

@@ -0,0 +1,25 @@
+name: Update CARS.md
+
+on:
+  schedule:
+    - cron: '0 8 * * *'  # 12am PST (8am UTC)
+  workflow_dispatch:
+
+jobs:
+  update-cars:
+    runs-on: ubuntu-24.04
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+      - name: Generate Car Docs
+        run: |
+          pip install -e .
+          scons -c && scons -j$(nproc)
+          python -m pip install jinja2==3.1.4 natsort==8.4.0
+          python opendbc/car/docs.py
+      - uses: stefanzweifel/git-auto-commit-action@8621497c8c39c72f3e2a999a26b4ca1b5058a842
+        with:
+          commit_message: 'docs: Scheduled auto-update CARS.md'
+          file_pattern: 'docs/CARS.md'
+

docs/CARS.md

@@ -345,7 +345,7 @@
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 

opendbc/car/docs.py

@@ -41,7 +41,7 @@ def get_all_footnotes() -> dict[Enum, int]:
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False, include_custom=False):
+def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False):
   collected_car_docs: list[CarDocs | ExtraCarDocs] = []
   for model, platform in platforms.items():
     car_docs = platform.config.car_docs
@@ -70,7 +70,7 @@ def get_all_car_docs() -> list[CarDocs]:
 
 
 def get_car_docs_with_extras() -> list[CarDocs | ExtraCarDocs]:
-  sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, include_custom=True, include_dashcam=True)
+  sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, include_dashcam=True)
   return sorted_list
 
 

opendbc/car/honda/carcontroller.py

@@ -160,8 +160,7 @@ 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_steer, CC.latActive, self.CP.carFingerprint,
-                                                      CS.CP.openpilotLongitudinalControl))
+    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive))
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -194,7 +193,7 @@ 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))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))

opendbc/car/honda/hondacan.py

@@ -16,8 +16,11 @@ def __init__(self, CP=None, fingerprint=None) -> None:
 
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
       self._pt, self._radar = self.offset + 1, self.offset
+      # normally steering commands are sent to radar, which forwards them to powertrain bus
+      # when radar is disabled, steering commands are sent directly to powertrain bus
+      self._lkas = self._pt if CP.openpilotLongitudinalControl else self._radar
     else:
-      self._pt, self._radar = self.offset, self.offset + 1
+      self._pt, self._radar, self._lkas = self.offset, self.offset + 1, self.offset
 
   @property
   def pt(self) -> int:
@@ -31,14 +34,14 @@ def radar(self) -> int:
   def camera(self) -> int:
     return self.offset + 2
 
+  @property
+  def lkas(self) -> int:
+    return self._lkas
 
-def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
-  no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
-  if radar_disabled or no_radar:
-    # when radar is disabled, steering commands are sent directly to powertrain bus
-    return CAN.pt
-  # normally steering commands are sent to radar, which forwards them to powertrain bus
-  return 0
+  # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+  @property
+  def body(self) -> int:
+    return self.offset
 
 
 def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
@@ -114,30 +117,27 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
   return commands
 
 
-def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
+def create_steering_control(packer, CAN, apply_steer, lkas_active):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
-  bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values)
+  return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
 
 
-def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
+def create_bosch_supplemental_1(packer, CAN):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
     "SET_ME_X80": 0x80,
     "SET_ME_X10": 0x10,
   }
-  bus = get_lkas_cmd_bus(CAN, car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", CAN.lkas, values)
 
 
 def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
   radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
-  bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
     acc_hud_values = {
@@ -183,10 +183,10 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     lkas_hud_values['SET_ME_X48'] = 0x48
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_A', CAN.lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', CAN.lkas, lkas_hud_values))
   else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD', CAN.lkas, lkas_hud_values))
 
   if radar_disabled:
     radar_hud_values = {

opendbc/car/honda/interface.py

@@ -213,4 +213,4 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
   @staticmethod
   def init(CP, can_recv, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
+      disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')

opendbc/car/toyota/carcontroller.py

@@ -87,7 +87,6 @@ def __init__(self, dbc_names, CP):
     self.secoc_lta_message_counter = 0
     self.secoc_acc_message_counter = 0
     self.secoc_prev_reset_counter = 0
-    self.secoc_mismatch_counter = 0
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
@@ -111,9 +110,8 @@ def update(self, CC, CS, now_nanos):
         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']))
-        if int(CS.secoc_synchronization['AUTHENTICATOR']) != expected_mac and self.secoc_mismatch_counter < 100:
+        if int(CS.secoc_synchronization['AUTHENTICATOR']) != expected_mac:
           carlog.error("SecOC synchronization MAC mismatch, wrong key?")
-          self.secoc_mismatch_counter += 1
 
     # *** steer torque ***
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))

opendbc/car/volkswagen/values.py

@@ -332,7 +332,7 @@ class CAR(Platforms):
   )
   VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
     [
-      VWCarDocs("Volkswagen Tiguan 2018-24"),
+      VWCarDocs("Volkswagen Tiguan 2018-23"),
       VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
     ],
     VolkswagenCarSpecs(mass=1715, wheelbase=2.74),