diff --git a/README.md b/README.md index 42770fe80f..f50bcbb83c 100644 --- a/README.md +++ b/README.md @@ -62,90 +62,91 @@ At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/product Supported Cars ------ -| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | -| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------| -| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 25mph | -| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 12mph | -| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | -| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | -| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph | -| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph | -| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph | -| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph | -| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph | -| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph | -| Honda | CR-V 2015-16 | Touring | openpilot | 25mph5 | 12mph | -| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph | -| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph | -| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph5 | 12mph | -| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph5 | 0mph | -| Honda | Passport 2019 | All | openpilot | 25mph5 | 12mph | -| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph5 | 12mph | -| Honda | Pilot 2019 | All | openpilot | 25mph5 | 12mph | -| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph5 | 12mph | -| Hyundai | Elantra 2017-191 | SCC + LKAS | Stock | 19mph | 34mph | -| Hyundai | Genesis 20181 | All | Stock | 19mph | 34mph | -| Hyundai | Santa Fe 20191 | All | Stock | 0mph | 0mph | -| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph | -| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph | -| Kia | Optima 20191 | SCC + LKAS | Stock | 0mph | 0mph | -| Kia | Sorento 20181 | All | Stock | 0mph | 0mph | -| Kia | Stinger 20181 | SCC + LKAS | Stock | 0mph | 0mph | -| Lexus | CT Hybrid 2017-18 | All | Stock4| 0mph | 0mph | -| Lexus | ES 2019 | All | openpilot | 0mph | 0mph | -| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph | -| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph | -| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph | -| Lexus | NX Hybrid 2018 | All | Stock4| 0mph | 0mph | -| Lexus | RX 2016-17 | All | Stock4| 0mph | 0mph | -| Lexus | RX 2020 | All | openpilot | 0mph | 0mph | -| Lexus | RX Hybrid 2016-19 | All | Stock4| 0mph | 0mph | -| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | -| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph | -| Toyota | Avalon 2016 | TSS-P | Stock4| 20mph5 | 0mph | -| Toyota | Avalon 2017-18 | All | Stock4| 20mph5 | 0mph | -| Toyota | Camry 2018-19 | All | Stock | 0mph2 | 0mph | -| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph2 | 0mph | -| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph | -| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph | -| Toyota | Corolla 2017-19 | All | Stock4| 20mph5 | 0mph | -| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph | -| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph | -| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph | -| Toyota | Highlander 2017-19 | All | Stock4| 0mph | 0mph | -| Toyota | Highlander Hybrid 2017-19 | All | Stock4| 0mph | 0mph | -| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph | -| Toyota | Prius 2016 | TSS-P | Stock4| 0mph | 0mph | -| Toyota | Prius 2017-19 | All | Stock4| 0mph | 0mph | -| Toyota | Prius Prime 2017-20 | All | Stock4| 0mph | 0mph | -| Toyota | Rav4 2016 | TSS-P | Stock4| 20mph5 | 0mph | -| Toyota | Rav4 2017-18 | All | Stock4| 20mph5 | 0mph | -| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph | -| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock4| 0mph | 0mph | -| Toyota | Rav4 Hybrid 2017-18 | All | Stock4| 0mph | 0mph | -| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph | -| Toyota | Sienna 2018 | All | Stock4| 0mph | 0mph | -| Volkswagen| Golf 2016-193 | Driver Assistance | Stock | 0mph | 0mph | +| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | +| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------| +| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph6 | 25mph | +| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph6 | 12mph | +| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | +| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | +| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph | +| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph | +| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph | +| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph | +| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph | +| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph4 | +| Honda | CR-V 2015-16 | Touring | openpilot | 25mph6 | 12mph | +| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph | +| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph | +| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph6 | 12mph | +| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph6 | 0mph | +| Honda | Passport 2019 | All | openpilot | 25mph6 | 12mph | +| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph6 | 12mph | +| Honda | Pilot 2019 | All | openpilot | 25mph6 | 12mph | +| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph6 | 12mph | +| Hyundai | Elantra 2017-191 | SCC + LKAS | Stock | 19mph | 34mph | +| Hyundai | Genesis 20181 | All | Stock | 19mph | 34mph | +| Hyundai | Santa Fe 20191 | All | Stock | 0mph | 0mph | +| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph | +| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph | +| Kia | Optima 20191 | SCC + LKAS | Stock | 0mph | 0mph | +| Kia | Sorento 20181 | All | Stock | 0mph | 0mph | +| Kia | Stinger 20181 | SCC + LKAS | Stock | 0mph | 0mph | +| Lexus | CT Hybrid 2017-18 | All | Stock5| 0mph | 0mph | +| Lexus | ES 2019 | All | openpilot | 0mph | 0mph | +| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph | +| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph | +| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph | +| Lexus | NX Hybrid 2018 | All | Stock5| 0mph | 0mph | +| Lexus | RX 2016-17 | All | Stock5| 0mph | 0mph | +| Lexus | RX 2020 | All | openpilot | 0mph | 0mph | +| Lexus | RX Hybrid 2016-19 | All | Stock5| 0mph | 0mph | +| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | +| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph | +| Toyota | Avalon 2016 | TSS-P | Stock5| 20mph6 | 0mph | +| Toyota | Avalon 2017-18 | All | Stock5| 20mph6 | 0mph | +| Toyota | Camry 2018-19 | All | Stock | 0mph2 | 0mph | +| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph2 | 0mph | +| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph | +| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph | +| Toyota | Corolla 2017-19 | All | Stock5| 20mph6 | 0mph | +| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph | +| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph | +| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph | +| Toyota | Highlander 2017-19 | All | Stock5| 0mph | 0mph | +| Toyota | Highlander Hybrid 2017-19 | All | Stock5| 0mph | 0mph | +| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph | +| Toyota | Prius 2016 | TSS-P | Stock5| 0mph | 0mph | +| Toyota | Prius 2017-19 | All | Stock5| 0mph | 0mph | +| Toyota | Prius Prime 2017-20 | All | Stock5| 0mph | 0mph | +| Toyota | Rav4 2016 | TSS-P | Stock5| 20mph6 | 0mph | +| Toyota | Rav4 2017-18 | All | Stock5| 20mph6 | 0mph | +| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph | +| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock5| 0mph | 0mph | +| Toyota | Rav4 Hybrid 2017-18 | All | Stock5| 0mph | 0mph | +| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph | +| Toyota | Sienna 2018 | All | Stock5| 0mph | 0mph | +| Volkswagen| Golf 2016-193 | Driver Assistance | Stock | 0mph | 0mph | 1Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models.
228mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
3Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness)
+42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
Community Maintained Cars and Features ------ | Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------| -| Buick | Regal 20186 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Cadillac | ATS 20186 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Chevrolet | Malibu 20176 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Chevrolet | Volt 2017-186 | Adaptive Cruise | openpilot | 0mph | 7mph | -| GMC | Acadia Denali 20186| Adaptive Cruise | openpilot | 0mph | 7mph | -| Holden | Astra 20176 | Adaptive Cruise | openpilot | 0mph | 7mph | - -4When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).***
-5[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).***
-6Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).***
+| Buick | Regal 20187 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Cadillac | ATS 20187 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Chevrolet | Malibu 20177 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Chevrolet | Volt 2017-187 | Adaptive Cruise | openpilot | 0mph | 7mph | +| GMC | Acadia Denali 20187| Adaptive Cruise | openpilot | 0mph | 7mph | +| Holden | Astra 20177 | Adaptive Cruise | openpilot | 0mph | 7mph | + +5When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).***
+6[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).***
+7Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).***
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`. diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 8810a81ffd..5a2b96451b 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -70,7 +70,7 @@ def get_can_signals(CP): ("SCM_BUTTONS", 25), ] - if CP.carFingerprint == CAR.CRV_HYBRID: + if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL): checks += [ ("GEARBOX", 50), ] @@ -81,7 +81,7 @@ def get_can_signals(CP): 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, CAR.CRV_HYBRID): + if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID): signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)] checks += [("BRAKE_MODULE", 50)] signals += [("CAR_GAS", "GAS_PEDAL_2", 0), @@ -103,7 +103,7 @@ def get_can_signals(CP): else: checks += [("CRUISE_PARAMS", 50)] - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID): signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)] elif CP.carFingerprint == CAR.ODYSSEY_CHN: signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)] @@ -176,7 +176,7 @@ class CarState(CarStateBase): self.prev_cruise_setting = self.cruise_setting # ******************* parse out can ******************* - 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 + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1 ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']) elif self.CP.carFingerprint == CAR.ODYSSEY_CHN: @@ -223,7 +223,7 @@ class CarState(CarStateBase): ret.rightBlinker = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] != 0 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, CAR.CRV_HYBRID): + if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID): self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0 main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON'] elif self.CP.carFingerprint == CAR.ODYSSEY_CHN: @@ -262,7 +262,7 @@ class CarState(CarStateBase): self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL'] ret.cruiseState.standstill = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252. ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo) - if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID): + if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID): ret.brakePressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] != 0 or \ (self.brake_switch and self.brake_switch_prev and \ cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 1c493e0d24..5a95da7098 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -175,7 +175,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.54, 0.36] - elif candidate == CAR.CIVIC_BOSCH: + elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c645011fa1..a8240ca68f 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -27,6 +27,7 @@ class CAR: ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING" CIVIC = "HONDA CIVIC 2016 TOURING" CIVIC_BOSCH = "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019" + CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL" ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS" CRV = "HONDA CR-V 2016 TOURING" CRV_5G = "HONDA CR-V 2017 EX" @@ -74,6 +75,10 @@ FINGERPRINTS = { { 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.CIVIC_BOSCH_DIESEL: [{ + # 2019 Civic Sedan 1.6 i-dtec Diesel European + 57: 3, 148: 8, 228: 5, 308: 5, 316: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 426: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 507: 1, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 801: 3, 804: 8, 806: 8, 808: 8, 815: 8, 824: 8, 825: 4, 829: 5, 837: 5, 862: 8, 881: 8, 882: 4, 884: 8, 887: 8, 888: 8, 891: 8, 902: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1115: 2, 1125: 8, 1296: 8, 1302: 8, 1322: 5, 1337: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8 + }], 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, }], @@ -410,6 +415,16 @@ FW_VERSIONS = { b'38897-TBA-A020\x00\x00', ], }, + CAR.CIVIC_BOSCH_DIESEL: { + (Ecu.unknown, 0x18da10f1, None): [b'37805-59N-G830\x00\x00'], + (Ecu.unknown, 0x18da1ef1, None): [b'28101-59Y-G620\x00\x00'], + (Ecu.unknown, 0x18da28f1, None): [b'57114-TGN-E320\x00\x00'], + (Ecu.eps, 0x18da30f1, None): [b'39990-TFK-G020\x00\x00'], + (Ecu.unknown, 0x18da53f1, None): [b'77959-TFK-G210\x00\x00'], + (Ecu.unknown, 0x18da60f1, None): [b'78109-TFK-G020\x00\x00'], + (Ecu.unknown, 0x18dab0f1, None): [b'36802-TFK-G130\x00\x00'], + (Ecu.unknown, 0x18da0bf1, None): [b'54008-TGN-E010\x00\x00'], + }, CAR.CRV_5G: { (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-5PA-3080\x00\x00', @@ -626,6 +641,7 @@ DBC = { 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_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), + CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_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), @@ -645,6 +661,7 @@ STEER_THRESHOLD = { CAR.ACURA_RDX: 400, CAR.CIVIC: 1200, CAR.CIVIC_BOSCH: 1200, + CAR.CIVIC_BOSCH_DIESEL: 1200, CAR.CRV: 1200, CAR.CRV_5G: 1200, CAR.CRV_HYBRID: 1200, @@ -664,6 +681,7 @@ SPEED_FACTOR = { CAR.ACURA_RDX: 1., CAR.CIVIC: 1., CAR.CIVIC_BOSCH: 1., + CAR.CIVIC_BOSCH_DIESEL: 1., CAR.CRV: 1.025, CAR.CRV_5G: 1.025, CAR.CRV_HYBRID: 1.025, @@ -681,4 +699,4 @@ ECU_FINGERPRINT = { Ecu.fwdCamera: [0xE4, 0x194], # steer torque cmd } -HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G, CAR.CRV_HYBRID] +HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID] diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py index 255ae9f82c..bd8c74f18a 100755 --- a/selfdrive/test/test_car_models.py +++ b/selfdrive/test/test_car_models.py @@ -196,6 +196,11 @@ routes = { 'carFingerprint': HONDA.CIVIC_BOSCH, 'enableCamera': True, }, + "d83f36766f8012a5|2020-02-05--18-42-21": { + 'carFingerprint': HONDA.CIVIC_BOSCH_DIESEL, + 'enableCamera': True, + 'fingerprintSource': 'fixed', + }, #"18971a99f3f2b385|2018-11-14--19-09-31": { # 'carFingerprint': HONDA.INSIGHT, # 'enableCamera': True,