Add port for 2019 Honda CRV Hybrid (China ver) (#596)

* 2019 honda crv hybrid port (china version)

* adjust mass based on spec

* update mass based on spec

* add 2019 Honda CRV Hybrid

old-commit-hash: 7978afabe5

README.md

@@ -77,6 +77,7 @@ Supported Cars
 | Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | 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 Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
 | Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
 | Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |

selfdrive/car/honda/carstate.py

@@ -60,7 +60,6 @@ def get_can_signals(CP):
       ("ENGINE_DATA", 100),
       ("WHEEL_SPEEDS", 50),
       ("STEERING_SENSORS", 100),
-      ("GEARBOX", 100),
       ("SEATBELT_STATUS", 10),
       ("CRUISE", 10),
       ("POWERTRAIN_DATA", 100),
@@ -78,9 +77,18 @@ def get_can_signals(CP):
       ("SCM_BUTTONS", 25),
     ]
 
+  if CP.carFingerprint == CAR.CRV_HYBRID:
+    checks += [
+      ("GEARBOX", 50),
+    ]
+  else:
+    checks += [
+      ("GEARBOX", 100),
+    ]
+
   if CP.radarOffCan:
     # Civic is only bosch to use the same brake message as other hondas.
-    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH):
+    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
       signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
       checks += [("BRAKE_MODULE", 50)]
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -101,7 +109,7 @@ def get_can_signals(CP):
     else:
       checks += [("CRUISE_PARAMS", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@@ -208,7 +216,7 @@ class CarState(object):
 
     # ******************* parse out can *******************
 
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc
       self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -270,7 +278,7 @@ class CarState(object):
     self.right_blinker_on = 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_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
       self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
       self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -298,7 +306,7 @@ class CarState(object):
     if self.CP.radarOffCan:
       self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
       self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
-      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH):
+      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
         self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
         self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
                           (self.brake_switch and self.brake_switch_prev and \

selfdrive/car/honda/interface.py

@@ -260,6 +260,20 @@ class CarInterface(object):
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
 
+    elif candidate == CAR.CRV_HYBRID:
+      stop_and_go = True
+      ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
+      ret.mass = 1667. + std_cargo # mean of 4 models in kg
+      ret.wheelbase = 2.66
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 16.0   # 12.3 is spec end-to-end
+      tire_stiffness_factor = 0.677
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
+      ret.longitudinalKpBP = [0., 5., 35.]
+      ret.longitudinalKpV = [1.2, 0.8, 0.5]
+      ret.longitudinalKiBP = [0., 35.]
+      ret.longitudinalKiV = [0.18, 0.12]
+
     elif candidate == CAR.ACURA_RDX:
       stop_and_go = False
       ret.mass = 3935 * CV.LB_TO_KG + std_cargo

selfdrive/car/honda/values.py

@@ -65,6 +65,7 @@ class CAR:
   ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
   CRV = "HONDA CR-V 2016 TOURING"
   CRV_5G = "HONDA CR-V 2017 EX"
+  CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
   ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
   ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
   ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
@@ -102,6 +103,9 @@ FINGERPRINTS = {
   CAR.CRV_5G: [{
     57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
   }],
+  CAR.CRV_HYBRID: [{
+    57: 3, 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, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8
+  }],
   # 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
   CAR.ODYSSEY: [{
     57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
@@ -144,6 +148,7 @@ DBC = {
   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_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
+  CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can', 'acura_ilx_2016_nidec'),
   CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
@@ -161,6 +166,7 @@ STEER_THRESHOLD = {
   CAR.CIVIC_BOSCH: 1200,
   CAR.CRV: 1200,
   CAR.CRV_5G: 1200,
+  CAR.CRV_HYBRID: 1200,
   CAR.ODYSSEY: 1200,
   CAR.ODYSSEY_CHN: 1200,
   CAR.PILOT: 1200,
@@ -178,6 +184,7 @@ SPEED_FACTOR = {
   CAR.CIVIC_BOSCH: 1.,
   CAR.CRV: 1.025,
   CAR.CRV_5G: 1.025,
+  CAR.CRV_HYBRID: 1.025,
   CAR.ODYSSEY: 1.,
   CAR.ODYSSEY_CHN: 1.,
   CAR.PILOT: 1.,
@@ -186,4 +193,4 @@ SPEED_FACTOR = {
 }
 
 # TODO: get these from dbc file
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G]
+HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G, CAR.CRV_HYBRID]