sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge new 2019 Civic and existing 2017-18 Civic Hatch (#446)

Browse Source 
* fingerprint and new car

* you know the drill

* fix

* mod civic hatch to work for now

* try to merge hatch and other bosch

* fix

* fixed spaces

* comma (heh)

* make mass civic

* Add to readme. Need to confirm speed

* steering dropout at ~3.3 kph

* Remove additional fingerprint

* combined comment. fixed formatting to match
pull/1/head
Chris Souers 7 years ago committed by rbiasini
parent b78ed77f1d
commit 9eb1666a52
4 changed files with 16 additions and 14 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. 1
      README.md
  2. 10
      selfdrive/car/honda/carstate.py
  3. 4
      selfdrive/car/honda/interface.py
  4. 15
      selfdrive/car/honda/values.py

1
README.md
Unescape View File

@ -69,6 +69,7 @@ Supported Cars
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>| | Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch | | Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec | | Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | | Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec | | Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | | Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |

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

@ -70,7 +70,7 @@ 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 not in (CAR.ACCORDH, CAR.CIVIC_HATCH): if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH):
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):
checks += [("CRUISE_PARAMS", 50), checks += [("CRUISE_PARAMS", 50),
("STANDSTILL", 50)] ("STANDSTILL", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
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),
@ -191,7 +191,7 @@ class CarState(object):
# ******************* parse out can ******************* # ******************* parse out can *******************
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # 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:
@ -249,7 +249,7 @@ 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.ACCORDH, CAR.CIVIC_HATCH): if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
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']
@ -276,7 +276,7 @@ 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 in (CAR.CIVIC_HATCH, CAR.ACCORDH): if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, 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 \

4
selfdrive/car/honda/interface.py
Unescape View File

@ -204,9 +204,9 @@ class CarInterface(object):
ret.longitudinalKiBP = [0., 35.] ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36] ret.longitudinalKiV = [0.54, 0.36]
elif candidate == CAR.CIVIC_HATCH: elif candidate == CAR.CIVIC_BOSCH:
stop_and_go = True stop_and_go = True
ret.mass = 2916. * CV.LB_TO_KG + std_cargo ret.mass = mass_civic
ret.wheelbase = wheelbase_civic ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic ret.centerToFront = centerToFront_civic
ret.steerRatio = 14.63 # 10.93 is spec end-to-end ret.steerRatio = 14.63 # 10.93 is spec end-to-end

15
selfdrive/car/honda/values.py
Unescape View File

@ -61,7 +61,7 @@ class CAR:
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T" ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING" ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
CIVIC = "HONDA CIVIC 2016 TOURING" CIVIC = "HONDA CIVIC 2016 TOURING"
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX" CIVIC_BOSCH = "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019"
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS" ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
CRV = "HONDA CR-V 2016 TOURING" CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX" CRV_5G = "HONDA CR-V 2017 EX"
@ -91,8 +91,9 @@ FINGERPRINTS = {
CAR.CIVIC: [{ CAR.CIVIC: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8, 57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
}], }],
CAR.CIVIC_HATCH: [{ CAR.CIVIC_BOSCH: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8 # 2017 Civic Hatchback EX and 2019 Civic Sedan Touring Canadian
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8,
}], }],
CAR.CRV: [{ CAR.CRV: [{
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
@ -136,7 +137,7 @@ DBC = {
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'),
CAR.CIVIC_HATCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None), CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
@ -152,7 +153,7 @@ STEER_THRESHOLD = {
CAR.ACURA_ILX: 1200, CAR.ACURA_ILX: 1200,
CAR.ACURA_RDX: 400, CAR.ACURA_RDX: 400,
CAR.CIVIC: 1200, CAR.CIVIC: 1200,
CAR.CIVIC_HATCH: 1200, CAR.CIVIC_BOSCH: 1200,
CAR.CRV: 1200, CAR.CRV: 1200,
CAR.CRV_5G: 1200, CAR.CRV_5G: 1200,
CAR.ODYSSEY: 1200, CAR.ODYSSEY: 1200,
@ -168,7 +169,7 @@ SPEED_FACTOR = {
CAR.ACURA_ILX: 1., CAR.ACURA_ILX: 1.,
CAR.ACURA_RDX: 1., CAR.ACURA_RDX: 1.,
CAR.CIVIC: 1., CAR.CIVIC: 1.,
CAR.CIVIC_HATCH: 1., CAR.CIVIC_BOSCH: 1.,
CAR.CRV: 1.025, CAR.CRV: 1.025,
CAR.CRV_5G: 1.025, CAR.CRV_5G: 1.025,
CAR.ODYSSEY: 1., CAR.ODYSSEY: 1.,
@ -178,4 +179,4 @@ SPEED_FACTOR = {
} }
# TODO: get these from dbc file # TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G] HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G]

Write Preview
Loading…
Cancel
Save