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

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add car

Update test_car_models.py

Update test_car_models.py

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commatwo_master
Chris Souers 5 years ago committed by GitHub
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  1. 149
      README.md
  2. 12
      selfdrive/car/honda/carstate.py
  3. 2
      selfdrive/car/honda/interface.py
  4. 20
      selfdrive/car/honda/values.py
  5. 5
      selfdrive/test/test_car_models.py

149
README.md
Unescape View File

@ -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 | 25mph<sup>5</sup> | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>5</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 |
| 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 | 25mph<sup>5</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 | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>5</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 |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
| 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 | 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 | RX 2016-17 | All | Stock<sup>4</sup>| 0mph | 0mph |
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>4</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 2017-18 | All | Stock<sup>4</sup>| 20mph<sup>5</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 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 Hybrid 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
| Toyota | Prius 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>4</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
| Toyota | Rav4 2017-18 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Sienna 2018 | All | Stock<sup>4</sup>| 0mph | 0mph |
| Volkswagen| Golf 2016-19<sup>3</sup> | 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 | 25mph<sup>6</sup> | 25mph |
| 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 |
| 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<sup>4</sup> |
| 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>6</sup> | 12mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>6</sup> | 12mph |
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>6</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 |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
| 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>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>5</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>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>5</sup>| 20mph<sup>6</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>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>5</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>5</sup>| 0mph | 0mph |
| Toyota | Prius 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>5</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Stock<sup>5</sup>| 20mph<sup>6</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>5</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>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 |
| Cadillac | ATS 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Malibu 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Volt 2017-18<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| GMC | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
| Holden | Astra 2017<sup>6</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>[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 />
| Buick | Regal 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Cadillac | ATS 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Malibu 2017<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Volt 2017-18<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| GMC | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
| Holden | Astra 2017<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
<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>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>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`.

12
selfdrive/car/honda/carstate.py
Unescape View File

@ -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)

2
selfdrive/car/honda/interface.py
Unescape View File

@ -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

20
selfdrive/car/honda/values.py
Unescape View File

@ -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]

5
selfdrive/test/test_car_models.py
Unescape View File

@ -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,

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