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Merge pull request #155 from slesinski/odyssey-port

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Honda Odyssey 2018 EX-L with Honda Sensing
old-commit-hash: 36bef17224
commatwo_master
George Hotz 8 years ago committed by GitHub
parent 1d23b22ccd ee7c8e0ea2
commit 7c2be8af58
6 changed files with 112 additions and 21 deletions
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  1. 4
      common/fingerprints.py
  2. 1
      selfdrive/car/__init__.py
  3. 18
      selfdrive/car/honda/carcontroller.py
  4. 83
      selfdrive/car/honda/carstate.py
  5. 11
      selfdrive/car/honda/hondacan.py
  6. 14
      selfdrive/car/honda/interface.py

4
common/fingerprints.py
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@ -16,6 +16,9 @@ _FINGERPRINTS = {
# sent messages
0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
},
"HONDA ODYSSEY 2018 EX-L": {
57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
},
"TOYOTA RAV4 2017": {
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
},
@ -59,4 +62,3 @@ def eliminate_incompatible_cars(msg, candidate_cars):
def all_known_cars():
"""Returns a list of all known car strings."""
return _FINGERPRINTS.keys()

1
selfdrive/car/__init__.py
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@ -26,6 +26,7 @@ interfaces = {
"ACURA ILX 2016 ACURAWATCH PLUS": HondaInterface,
"HONDA ACCORD 2016 TOURING": HondaInterface,
"HONDA CR-V 2016 TOURING": HondaInterface,
"HONDA ODYSSEY 2018 EX-L": HondaInterface,
"TOYOTA PRIUS 2017": ToyotaInterface,
"TOYOTA RAV4 2017": ToyotaInterface,
"TOYOTA RAV4 2017 HYBRID": ToyotaInterface,

18
selfdrive/car/honda/carcontroller.py
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@ -12,7 +12,7 @@ from . import hondacan
from .values import AH
def actuator_hystereses(brake, braking, brake_steady, v_ego, civic):
def actuator_hystereses(brake, braking, brake_steady, v_ego, civic, odyssey):
# hyst params... TODO: move these to VehicleParams
brake_hyst_on = 0.02 # to activate brakes exceed this value
brake_hyst_off = 0.005 # to deactivate brakes below this value
@ -32,7 +32,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, civic):
brake_steady = brake + brake_hyst_gap
brake = brake_steady
if not civic and brake > 0.0:
if (not civic and not odyssey) and brake > 0.0:
brake += 0.15
return brake, braking, brake_steady
@ -78,7 +78,7 @@ class CarController(object):
return
# *** apply brake hysteresis ***
brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.civic)
brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.civic, CS.odyssey)
# *** no output if not enabled ***
if not enabled and CS.pcm_acc_status:
@ -121,7 +121,7 @@ class CarController(object):
tt = sec_since_boot()
GAS_MAX = 1004
BRAKE_MAX = 1024/4
if CS.civic:
if CS.civic or CS.odyssey:
is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
elif CS.crv:
@ -165,16 +165,16 @@ class CarController(object):
# Send dashboard UI commands.
if (frame % 10) == 0:
idx = (frame/10) % 4
can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, idx))
can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, CS.odyssey, idx))
# radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
if CS.civic or CS.accord or CS.crv:
radar_send_step = 5
else:
if CS.acura:
radar_send_step = 2
else:
radar_send_step = 5
if (frame % radar_send_step) == 0:
idx = (frame/radar_send_step) % 4
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, CS.odyssey, idx))
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())

83
selfdrive/car/honda/carstate.py
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@ -6,14 +6,14 @@ from selfdrive.can.parser import CANParser
from selfdrive.config import Conversions as CV
import numpy as np
def parse_gear_shifter(can_gear_shifter, is_acura):
def parse_gear_shifter(can_gear_shifter, is_acura, is_odyssey):
if can_gear_shifter == 0x1:
return "park"
elif can_gear_shifter == 0x2:
return "reverse"
if is_acura:
if is_acura or is_odyssey:
if can_gear_shifter == 0x3:
return "neutral"
elif can_gear_shifter == 0x4:
@ -261,6 +261,62 @@ def get_can_signals(CP):
(0x324, 10),
(0x405, 3),
]
elif CP.carFingerprint == "HONDA ODYSSEY 2018 EX-L":
dbc_f = 'honda_odyssey_exl_2018.dbc'
signals = [
("XMISSION_SPEED", 0x158, 0),
("WHEEL_SPEED_FL", 0x1d0, 0),
("WHEEL_SPEED_FR", 0x1d0, 0),
("WHEEL_SPEED_RL", 0x1d0, 0),
("WHEEL_SPEED_RR", 0x1d0, 0),
("STEER_ANGLE", 0x156, 0),
("STEER_ANGLE_RATE", 0x156, 0),
("STEER_TORQUE_SENSOR", 0x18f, 0),
("GEAR", 0x1a3, 0),
("WHEELS_MOVING", 0x1b0, 1),
("DOOR_OPEN_FL", 0x405, 1),
("DOOR_OPEN_FR", 0x405, 1),
("DOOR_OPEN_RL", 0x405, 1),
("DOOR_OPEN_RR", 0x405, 1),
("CRUISE_SPEED_PCM", 0x324, 0),
("SEATBELT_DRIVER_LAMP", 0x305, 1),
("SEATBELT_DRIVER_LATCHED", 0x305, 0),
("BRAKE_PRESSED", 0x17c, 0),
("BRAKE_SWITCH", 0x17c, 0),
("CRUISE_BUTTONS", 0x296, 0),
("ESP_DISABLED", 0x1a4, 1),
("HUD_LEAD", 0x30c, 0),
("USER_BRAKE", 0x1a4, 0),
("STEER_STATUS", 0x18f, 5),
("BRAKE_ERROR_1", 0x1b0, 1),
("BRAKE_ERROR_2", 0x1b0, 1),
("GEAR_SHIFTER", 0x1a3, 0),
("MAIN_ON", 0x326, 0),
("ACC_STATUS", 0x17c, 0),
("PEDAL_GAS", 0x17c, 0),
("CRUISE_SETTING", 0x296, 0),
("LEFT_BLINKER", 0x326, 0),
("RIGHT_BLINKER", 0x326, 0),
("CRUISE_SPEED_OFFSET", 0x37c, 0),
("EPB_STATE", 0x1c2, 0),
("BRAKE_HOLD_ACTIVE", 0x1a4, 0),
]
checks = [
(0x156, 100),
(0x158, 100),
(0x17c, 100),
(0x1a3, 50),
(0x1a4, 50),
(0x1b0, 50),
(0x1c2, 50),
(0x1d0, 50),
(0x296, 25),
(0x305, 10),
(0x324, 10),
(0x326, 10),
(0x37c, 10),
(0x405, 3),
]
# add gas interceptor reading if we are using it
if CP.enableGas:
signals.append(("INTERCEPTOR_GAS", 0x201, 0))
@ -278,6 +334,7 @@ class CarState(object):
self.civic = False
self.accord = False
self.crv = False
self.odyssey = False
if CP.carFingerprint == "HONDA CIVIC 2016 TOURING":
self.civic = True
elif CP.carFingerprint == "ACURA ILX 2016 ACURAWATCH PLUS":
@ -286,6 +343,8 @@ class CarState(object):
self.accord = True
elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
self.crv = True
elif CP.carFingerprint == "HONDA ODYSSEY 2018 EX-L":
self.odyssey = True
else:
raise ValueError("unsupported car %s" % CP.carFingerprint)
@ -418,6 +477,20 @@ class CarState(object):
self.cruise_speed_offset = -0.3
self.park_brake = 0 # TODO
self.brake_hold = 0 # TODO
elif self.odyssey:
can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
self.angle_steers_rate = cp.vl[0x156]['STEER_ANGLE_RATE']
self.gear = cp.vl[0x1A3]['GEAR']
self.cruise_setting = cp.vl[0x296]['CRUISE_SETTING']
self.cruise_buttons = cp.vl[0x296]['CRUISE_BUTTONS']
self.main_on = cp.vl[0x326]['MAIN_ON']
self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
self.park_brake = cp.vl[0x1c2]['EPB_STATE'] != 0
self.brake_hold = cp.vl[0x1a4]['BRAKE_HOLD_ACTIVE']
elif self.acura:
can_gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@ -431,15 +504,15 @@ class CarState(object):
self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
self.cruise_speed_offset = calc_cruise_offset(cp.vl[0x37c]['CRUISE_SPEED_OFFSET'], self.v_ego)
self.park_brake = 0 # TODO
self.brake_hold = 0
self.brake_hold = 0 # TODO
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.acura)
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.acura, self.odyssey)
if self.accord:
# on the accord, this doesn't seem to include cruise control
self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
self.steer_override = False
elif self.crv:
elif self.crv or self.odyssey:
# like accord, crv doesn't include cruise control
self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200

11
selfdrive/car/honda/hondacan.py
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@ -79,7 +79,7 @@ def create_steering_control(apply_steer, crv, idx):
commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
return commands
def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
def create_ui_commands(pcm_speed, hud, civic, accord, crv, odyssey, idx):
"""Creates an iterable of CAN messages for the UIs."""
commands = []
pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@ -90,17 +90,17 @@ def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
msg_0x33d = chr(hud.X5) + chr(hud.lanes) + chr(hud.beep) + chr(hud.X8)
commands.append(make_can_msg(0x33d, msg_0x33d, idx, 0))
if civic: # 2 more msgs
if civic or odyssey: # 2 more msgs
msg_0x35e = chr(0) * 7
commands.append(make_can_msg(0x35e, msg_0x35e, idx, 0))
if civic or accord:
if civic or accord or odyssey:
msg_0x39f = (
chr(0) * 2 + chr(hud.acc_alert) + chr(0) + chr(0xff) + chr(0x7f) + chr(0)
)
commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
return commands
def create_radar_commands(v_ego, civic, accord, crv, idx):
def create_radar_commands(v_ego, civic, accord, crv, odyssey, idx):
"""Creates an iterable of CAN messages for the radar system."""
commands = []
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
@ -122,6 +122,9 @@ def create_radar_commands(v_ego, civic, accord, crv, idx):
elif crv:
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
elif odyssey:
msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
else:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))

14
selfdrive/car/honda/interface.py
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@ -104,7 +104,7 @@ class CarInterface(object):
# self.accord_msg = []
raise NotImplementedError
if not self.CS.civic:
if not self.CS.civic and not self.CS.odyssey:
self.compute_gb = get_compute_gb_acura()
else:
self.compute_gb = compute_gb_honda
@ -205,6 +205,18 @@ class CarInterface(object):
ret.steerRatio = 15.3
ret.steerKp, ret.steerKi = 0.8, 0.24
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 == "HONDA ODYSSEY 2018 EX-L":
stop_and_go = False
ret.mass = 4354./2.205 + std_cargo
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35
ret.steerKp, ret.steerKi = 0.6, 0.18
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]

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