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use alt brake

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pull/27731/head
Shane Smiskol 2 years ago
parent a5b1384e07
commit b32b0e4052
4 changed files with 12 additions and 14 deletions
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  1. 6
      selfdrive/car/honda/carstate.py
  2. 2
      selfdrive/car/honda/interface.py
  3. 16
      selfdrive/car/honda/values.py
  4. 2
      selfdrive/car/tests/routes.py

6
selfdrive/car/honda/carstate.py
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@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
else: else:
checks.append(("CRUISE_PARAMS", 50)) checks.append(("CRUISE_PARAMS", 50))
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023): if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@ -176,7 +176,7 @@ class CarState(CarStateBase):
# panda checks if the signal is non-zero # panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars # TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023): if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@ -255,8 +255,6 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
# elif self.CP.carFingerprint == CAR.HRV_2023:
# ret.brakePressed = cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0
else: else:
# brake switch has shown some single time step noise, so only considered when # brake switch has shown some single time step noise, so only considered when
# switch is on for at least 2 consecutive CAN samples # switch is on for at least 2 consecutive CAN samples

2
selfdrive/car/honda/interface.py
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@ -193,7 +193,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.75 tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_2023): elif candidate in (CAR.HRV, CAR.HRV_3G):
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61 ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41

16
selfdrive/car/honda/values.py
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@ -87,7 +87,7 @@ class CAR:
FIT = "HONDA FIT 2018" FIT = "HONDA FIT 2018"
FREED = "HONDA FREED 2020" FREED = "HONDA FREED 2020"
HRV = "HONDA HRV 2019" HRV = "HONDA HRV 2019"
HRV_2023 = "HONDA HR-V 2023" HRV_3G = "HONDA HR-V 2023"
ODYSSEY = "HONDA ODYSSEY 2018" ODYSSEY = "HONDA ODYSSEY 2018"
ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
ACURA_RDX = "ACURA RDX 2018" ACURA_RDX = "ACURA RDX 2018"
@ -139,7 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV_2023: HondaCarInfo("Honda HR-V 2023", "All", video_link="https://youtu.be/1O1u9jzpKD0"), CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All", video_link="https://youtu.be/1O1u9jzpKD0"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
@ -1421,7 +1421,7 @@ FW_VERSIONS = {
b'78109-THW-A110\x00\x00', b'78109-THW-A110\x00\x00',
], ],
}, },
CAR.HRV_2023: { CAR.HRV_3G: {
(Ecu.eps, 0x18DA30F1, None): [ (Ecu.eps, 0x18DA30F1, None): [
b'39990-3M0-G110\x00\x00', b'39990-3M0-G110\x00\x00',
b'39990-3W0-A030\x00\x00', b'39990-3W0-A030\x00\x00',
@ -1455,7 +1455,7 @@ FW_VERSIONS = {
], ],
(Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
b'46114-3W0-A020\x00\x00', b'46114-3W0-A020\x00\x00',
], ],
}, },
CAR.ACURA_ILX: { CAR.ACURA_ILX: {
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
@ -1575,7 +1575,7 @@ DBC = {
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV_2023: dbc_dict('honda_civic_ex_2022_can_generated', None), CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
@ -1595,6 +1595,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.RIDGELINE} CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_2023} CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_2023} HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}

2
selfdrive/car/tests/routes.py
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@ -68,7 +68,7 @@ routes = [
CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
CarTestRoute("147613502316e718|2023-02-24--13-03-54", HONDA.HRV_2023), CarTestRoute("147613502316e718|2023-02-24--13-03-54", HONDA.HRV_3G),
CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T

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