sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 64 Packages Projects Releases Wiki Activity

Add support for accord hybrid (#361)

Browse Source
pull/6/head
Ted Slesinski 7 years ago committed by rbiasini
parent 4b2c137489
commit de79a07745
3 changed files with 17 additions and 15 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 10
      selfdrive/car/honda/carstate.py
  2. 3
      selfdrive/car/honda/interface.py
  3. 17
      selfdrive/car/honda/values.py

10
selfdrive/car/honda/carstate.py
Unescape View File

@ -73,7 +73,7 @@ def get_can_signals(CP):
if CP.radarOffCan: if CP.radarOffCan:
# Civic is only bosch to use the same brake message as other hondas. # Civic is only bosch to use the same brake message as other hondas.
if CP.carFingerprint != CAR.CIVIC_HATCH: if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)] signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)] checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0), signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@ -88,7 +88,7 @@ def get_can_signals(CP):
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)] ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("CRUISE_PARAMS", 50)] checks += [("CRUISE_PARAMS", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)] signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
else: else:
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1), signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@ -179,7 +179,7 @@ class CarState(object):
# ******************* parse out can ******************* # ******************* parse out can *******************
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # TODO: find wheels moving bit in dbc if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1 self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'] self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
else: else:
@ -234,7 +234,7 @@ class CarState(object):
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH): if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0 self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE'] self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON'] self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
@ -261,7 +261,7 @@ class CarState(object):
if self.CP.radarOffCan: if self.CP.radarOffCan:
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252. self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego) self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint == CAR.CIVIC_HATCH: if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH'] self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \ self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
(self.brake_switch and self.brake_switch_prev and \ (self.brake_switch and self.brake_switch_prev and \

3
selfdrive/car/honda/interface.py
Unescape View File

@ -204,8 +204,9 @@ class CarInterface(object):
ret.longitudinalKiBP = [0., 35.] ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12] ret.longitudinalKiV = [0.18, 0.12]
elif candidate in (CAR.ACCORD, CAR.ACCORD_15): elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + std_cargo ret.mass = 3279. * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.83 ret.wheelbase = 2.83

17
selfdrive/car/honda/values.py
Unescape View File

@ -7,7 +7,6 @@ class CruiseButtons:
CANCEL = 2 CANCEL = 2
MAIN = 1 MAIN = 1
#car chimes: enumeration from dbc file. Chimes are for alerts and warnings #car chimes: enumeration from dbc file. Chimes are for alerts and warnings
class CM: class CM:
MUTE = 0 MUTE = 0
@ -16,7 +15,6 @@ class CM:
REPEATED = 1 REPEATED = 1
CONTINUOUS = 2 CONTINUOUS = 2
#car beepss: enumeration from dbc file. Beeps are for activ and deactiv #car beepss: enumeration from dbc file. Beeps are for activ and deactiv
class BP: class BP:
MUTE = 0 MUTE = 0
@ -35,10 +33,10 @@ class AH:
SEATBELT = [5, 5] SEATBELT = [5, 5]
SPEED_TOO_HIGH = [6, 8] SPEED_TOO_HIGH = [6, 8]
class CAR: class CAR:
ACCORD = "HONDA ACCORD 2018 SPORT 2T" ACCORD = "HONDA ACCORD 2018 SPORT 2T"
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T" ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
CIVIC = "HONDA CIVIC 2016 TOURING" CIVIC = "HONDA CIVIC 2016 TOURING"
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX" CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS" ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
@ -50,14 +48,16 @@ class CAR:
PILOT_2019 = "HONDA PILOT 2019 ELITE" PILOT_2019 = "HONDA PILOT 2019 ELITE"
RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION" RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
FINGERPRINTS = { FINGERPRINTS = {
CAR.ACCORD: [{ CAR.ACCORD: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}], }],
CAR.ACCORD_15: [{ CAR.ACCORD_15: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}], }],
CAR.ACCORDH: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
CAR.ACURA_ILX: [{ CAR.ACURA_ILX: [{
57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
}], }],
@ -98,10 +98,10 @@ FINGERPRINTS = {
}] }]
} }
DBC = { DBC = {
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None), CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None), CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), 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: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
@ -114,10 +114,10 @@ DBC = {
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'), CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
} }
STEER_THRESHOLD = { STEER_THRESHOLD = {
CAR.ACCORD: 1200, CAR.ACCORD: 1200,
CAR.ACCORD_15: 1200, CAR.ACCORD_15: 1200,
CAR.ACCORDH: 1200,
CAR.ACURA_ILX: 1200, CAR.ACURA_ILX: 1200,
CAR.ACURA_RDX: 400, CAR.ACURA_RDX: 400,
CAR.CIVIC: 1200, CAR.CIVIC: 1200,
@ -133,6 +133,7 @@ STEER_THRESHOLD = {
SPEED_FACTOR = { SPEED_FACTOR = {
CAR.ACCORD: 1., CAR.ACCORD: 1.,
CAR.ACCORD_15: 1., CAR.ACCORD_15: 1.,
CAR.ACCORDH: 1.,
CAR.ACURA_ILX: 1., CAR.ACURA_ILX: 1.,
CAR.ACURA_RDX: 1., CAR.ACURA_RDX: 1.,
CAR.CIVIC: 1., CAR.CIVIC: 1.,
@ -159,4 +160,4 @@ VEHICLE_STATE_MSG = {
} }
# TODO: get these from dbc file # TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G] HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]

Write Preview
Loading…
Cancel
Save