Adds 2016 CR-V Executive (Euro version of Touring trim) (#1097)

Co-authored-by: Ted Slesinski <ted_slesinski@epam.com>
old-commit-hash: 035397cd31

selfdrive/car/honda/carcontroller.py

@@ -30,7 +30,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
     brake_steady = brake + brake_hyst_gap
   brake = brake_steady
 
-  if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV)) and brake > 0.0:
+  if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV, CAR.CRV_EU)) and brake > 0.0:
     brake += 0.15
 
   return brake, braking, brake_steady

selfdrive/car/honda/carstate.py

@@ -123,7 +123,7 @@ def get_can_signals(CP):
   elif CP.carFingerprint == CAR.ACURA_ILX:
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
                 ("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
+  elif CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
     signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
   elif CP.carFingerprint == CAR.FIT:
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -238,7 +238,7 @@ class CarState(CarStateBase):
 
     self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
     # crv doesn't include cruise control
-    if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
+    if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
       ret.gas = self.pedal_gas / 256.
     else:
       ret.gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS'] / 256.
@@ -337,7 +337,7 @@ class CarState(CarStateBase):
 
     # all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
     checks = [(0xe4, 100)]
-    if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
+    if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
       checks = [(0x194, 100)]
 
     bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH  and not CP.isPandaBlack else 2

selfdrive/car/honda/interface.py

@@ -219,7 +219,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
 
-    elif candidate == CAR.CRV:
+    elif candidate in (CAR.CRV, CAR.CRV_EU):
       stop_and_go = False
       ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.62

selfdrive/car/honda/values.py

@@ -31,6 +31,7 @@ class CAR:
   ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
   CRV = "HONDA CR-V 2016 TOURING"
   CRV_5G = "HONDA CR-V 2017 EX"
+  CRV_EU = "HONDA CR-V 2016 EXECUTIVE"
   CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
   FIT = "HONDA FIT 2018 EX"
   ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
@@ -82,6 +83,10 @@ FINGERPRINTS = {
   CAR.CRV_5G: [{
     57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
   }],
+  # 1057: 5 1024: 5 are also on the OBD2 bus. their lengths differ from the camera's f-can bus. re-fingerprint after obd2 connection is split in panda firmware from bus 1.
+  CAR.CRV_EU: [{
+    57: 3, 145: 8, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 404: 4, 419: 8, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 510: 3, 538: 3, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 768: 8, 769: 8, 773: 7, 777: 8, 780: 8, 800: 8, 801: 3, 803: 8, 804: 8, 808: 8, 824: 8, 829: 5, 837: 5, 862: 8, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 930: 8, 931: 8, 983: 8, 1024: 8, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1040: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1045: 8, 1046: 8, 1047: 8, 1056: 8, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1064: 7, 1072: 8, 1073: 8, 1074: 8, 1075: 8, 1076: 8, 1077: 8, 1078: 8, 1079: 8, 1080: 8, 1081: 8, 1088: 8, 1089: 8, 1090: 8, 1091: 8, 1092: 8, 1093: 8, 1108: 8, 1125: 8, 1279: 8, 1280: 8, 1296: 8, 1297: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
+  }],
   CAR.CRV_HYBRID: [{
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
   }],
@@ -126,7 +131,7 @@ FINGERPRINTS = {
 }
 
 # Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
-IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL]
+IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU]
 
 # add DIAG_MSGS to fingerprints
 for c in FINGERPRINTS:
@@ -492,6 +497,15 @@ FW_VERSIONS = {
       b'77959-TLA-A320\x00\x00',
     ],
   },
+  CAR.CRV_EU: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [b'37805-R5Z-G740\x00\x00'],
+    (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'],
+    (Ecu.transmission, 0x18da1ef1, None): [b'28101-5LH-E120\x00\x00'],
+    (Ecu.combinationMeter, 0x18da60f1, None): [b'78109-T1V-G020\x00\x00'],
+    (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'],
+  },
   CAR.CRV_HYBRID: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TPA-G020\x00\x00',
@@ -664,6 +678,7 @@ DBC = {
   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_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
@@ -685,6 +700,7 @@ STEER_THRESHOLD = {
   CAR.CIVIC_BOSCH_DIESEL: 1200,
   CAR.CRV: 1200,
   CAR.CRV_5G: 1200,
+  CAR.CRV_EU: 400,
   CAR.CRV_HYBRID: 1200,
   CAR.FIT: 1200,
   CAR.ODYSSEY: 1200,
@@ -706,6 +722,7 @@ SPEED_FACTOR = {
   CAR.CIVIC_BOSCH_DIESEL: 1.,
   CAR.CRV: 1.025,
   CAR.CRV_5G: 1.025,
+  CAR.CRV_EU: 1.025,
   CAR.CRV_HYBRID: 1.025,
   CAR.FIT: 1.,
   CAR.ODYSSEY: 1.,

selfdrive/test/test_car_models.py

@@ -96,6 +96,11 @@ routes = {
     'carFingerprint': HONDA.CIVIC,
     'enableCamera': True,
   },
+  "a859a044a447c2b0|2020-03-03--18-42-45": {
+    'carFingerprint': HONDA.CRV_EU,
+    'enableCamera': True,
+    'fingerprintSource': 'fixed',
+  },
   "232585b7784c1af4|2019-04-08--14-12-14": {
     'carFingerprint': HONDA.CRV_HYBRID,
     'enableCamera': True,