Add support for 2019 Civic Sedan 1.6L Diesel with CVT (#1091)

add car Update test_car_models.py Update test_car_models.py add firmware Update README.md Update test_car_models.py old-commit-hash: ba6f555ede
5 years ago · 53dbe430a8
parent 12a4247161
commit 53dbe430a8
5 changed files with 106 additions and 82 deletions
--- a/README.md
+++ b/README.md
@ -63,9 +63,9 @@ Supported Cars
 ------
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 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             |
@ -73,16 +73,16 @@ Supported Cars
 | 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     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph<sup>4</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>6</sup>  | 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        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 0mph              |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
 | Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph             |
 | Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph             |
 | Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph              |
@ -91,61 +91,62 @@ Supported Cars
 | Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph              |
 | Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph              |
 | Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph              |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>5</sup>| 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               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph              |
 | Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph              |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
 | Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 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               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 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               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
 | Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
 | Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph              |
 <sup>1</sup>Requires 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. <br />
 <sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>3</sup>Requires 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) <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 Community Maintained Cars and Features
 ------
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Buick     | Regal 2018<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>7</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>7</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>7</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-
+
-<sup>4</sup>When 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).*** <br />
+<sup>5</sup>When 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).*** <br />
-<sup>5</sup>[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).*** <br />
+<sup>6</sup>[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).*** <br />
-<sup>6</sup>Requires 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).*** <br />
+<sup>7</sup>Requires 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).*** <br />
 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`.
--- 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)
--- 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
--- 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]
--- 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,