Add US HR-V 2023

RELEASES.md

@@ -1,7 +1,7 @@
 Version 0.9.2 (2023-03-XX)
 ========================
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
-* Honda HR-V Vezel 2023 non US support thanks to Alex Takeda!
+* Honda HR-V 2023 support thanks to Kotarou#9692!
 
 Version 0.9.1 (2023-02-23)
 ========================

selfdrive/car/honda/carstate.py

@@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     else:
       checks.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023_NON_US):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@@ -176,7 +176,7 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023_NON_US):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])

selfdrive/car/honda/interface.py

@@ -203,7 +203,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
       ret.wheelSpeedFactor = 1.025
     
-    elif candidate == CAR.HRV_2023_NON_US:
+    elif candidate == CAR.HRV_2023:
       ret.mass = 1305. + STD_CARGO_KG
       ret.wheelbase = 2.61
       ret.centerToFront = ret.wheelbase * 0.41

selfdrive/car/honda/values.py

@@ -87,7 +87,7 @@ class CAR:
   FIT = "HONDA FIT 2018"
   FREED = "HONDA FREED 2020"
   HRV = "HONDA HRV 2019"
-  HRV_2023_NON_US = "HONDA HRV/VEZEL 2023 NON US"
+  HRV_2023 = "HONDA HR-V 2023"
   ODYSSEY = "HONDA ODYSSEY 2018"
   ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
   ACURA_RDX = "ACURA RDX 2018"
@@ -139,7 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.HRV_2023_NON_US: HondaCarInfo("Honda HR-V/VEZEL 2023 NON US", "All", video_link="https://youtu.be/1O1u9jzpKD0", harness=Harness.bosch_b),
+  CAR.HRV_2023: HondaCarInfo("Honda HR-V 2023", "All", video_link="https://youtu.be/1O1u9jzpKD0", harness=Harness.bosch_b),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -1404,17 +1404,21 @@ FW_VERSIONS = {
       b'78109-THW-A110\x00\x00',
     ],
   },
-  CAR.HRV_2023_NON_US: {
+  CAR.HRV_2023: {
     (Ecu.eps, 0x18DA30F1, None): [
       b'39990-3M0-G110\x00\x00',
+      b'39990-3W0-A030\x00\x00',
     ],
     (Ecu.gateway, 0x18DAEFF1, None): [
       b'38897-3M0-M110\x00\x00',
+      b'38897-3W1-A010\x00\x00',
     ],
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-3M0-K840\x00\x00',
+      b'77959-3V0-A820\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-3V1-A220\x00\x00',
       b'78109-3M0-M310\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18DAB0F1, None): [
@@ -1422,13 +1426,19 @@ FW_VERSIONS = {
     ],
     (Ecu.vsa, 0x18DA28F1, None): [
       b'57114-3M6-M010\x00\x00',
+      b'57114-3W0-A040\x00\x00',
     ],
     (Ecu.transmission, 0x18DA1EF1, None): [
+      b'28101-6EH-A010\x00\x00',
       b'28101-6JC-M310\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18DA10F1, None): [
+      b'37805-6CT-A710\x00\x00',
       b'37805-6HZ-M630\x00\x00',
     ],
+    (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
+      b'46114-3W0-A020\x00\x00',
+    ],    
   },
   CAR.ACURA_ILX: {
     (Ecu.gateway, 0x18daeff1, None): [
@@ -1548,7 +1558,7 @@ DBC = {
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.HRV_2023_NON_US: dbc_dict('honda_civic_ex_2022_can_generated', None),
+  CAR.HRV_2023: dbc_dict('honda_civic_ex_2022_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_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
@@ -1568,6 +1578,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023_NON_US}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023}
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
-HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_2023_NON_US}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_2023}

selfdrive/car/tests/routes.py

@@ -65,7 +65,7 @@ routes = [
   CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
   CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
   CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
-  CarTestRoute("147613502316e718|2023-02-24--13-03-54", HONDA.HRV_2023_NON_US),
+  CarTestRoute("147613502316e718|2023-02-24--13-03-54", HONDA.HRV_2023),
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T

selfdrive/car/torque_data/override.yaml

@@ -46,4 +46,4 @@ mock: [10.0, 10, 0.0]
 
 # Manually checked
 HONDA CIVIC 2022: [2.5, 1.2, 0.15]
-HONDA HRV/VEZEL 2023 NON US: [2.5, 1.2, 0.15]
+HONDA HR-V 2023: [2.5, 1.2, 0.15]