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master 2022 Civic

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pull/23307/head
vanillagorillaa 4 years ago
parent 50cce27e34
commit b365650953
7 changed files with 66 additions and 16 deletions
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  1. 2
      cereal
  2. 2
      docs/CARS.md
  3. 2
      opendbc
  4. 2
      panda
  5. 30
      selfdrive/car/honda/carstate.py
  6. 7
      selfdrive/car/honda/interface.py
  7. 37
      selfdrive/car/honda/values.py

2
cereal

@ -1 +1 @@
Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4
Subproject commit 8a261632bf350817aaa4ba2840517629c5a882ad

2
docs/CARS.md
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@ -10,10 +10,12 @@
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Hatchback 2022 | All | Stock | 0mph | 0mph |
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
| Honda | Civic Sedan 2022 | All | Stock | 0mph | 0mph |
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |

2
opendbc

@ -1 +1 @@
Subproject commit 2bab99fd861786312bde676823e21d80eeeb01fa
Subproject commit 166e34fc03ada262d61edced450c76660f27ce6d

2
panda

@ -1 +1 @@
Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e
Subproject commit 51c9002530a378ce4a2c04f9b482b1e72492373d

30
selfdrive/car/honda/carstate.py
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@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_RADARLESS
TransmissionType = car.CarParams.TransmissionType
@ -77,7 +77,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
if CP.carFingerprint in HONDA_BOSCH:
if CP.carFingerprint in HONDA_BOSCH or CP.carFingerprint in HONDA_RADARLESS:
signals += [
("EPB_STATE", "EPB_STATUS", 0),
("IMPERIAL_UNIT", "CAR_SPEED", 1),
@ -95,7 +95,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
("AEB_STATUS", "ACC_CONTROL", 0),
]
checks += [
("ACC_HUD", 10),
("ACC_HUD", 0), # TODO: Fix this
("ACC_CONTROL", 50),
]
else: # Nidec signals
@ -107,7 +107,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
else:
checks += [("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):
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_22):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@ -185,7 +185,7 @@ class CarState(CarStateBase):
# ******************* parse out can *******************
# TODO: find wheels moving bit in dbc
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):
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_22):
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:
@ -237,7 +237,7 @@ class CarState(CarStateBase):
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, 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_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_22):
self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
else:
self.park_brake = 0 # TODO
@ -259,13 +259,14 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
if self.CP.carFingerprint in HONDA_BOSCH:
if self.CP.carFingerprint in HONDA_BOSCH or self.CP.carFingerprint in HONDA_RADARLESS:
if not self.CP.openpilotLongitudinalControl:
ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
# TODO: Fix this to support both cam and pt bus parsing
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp_cam.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp_cam.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.MPH_TO_MS
self.v_cruise_pcm_prev = ret.cruiseState.speed
else:
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@ -300,12 +301,12 @@ class CarState(CarStateBase):
else:
self.is_metric = False
if self.CP.carFingerprint in HONDA_BOSCH:
if self.CP.carFingerprint in HONDA_BOSCH or self.CP.carFingerprint in HONDA_RADARLESS:
ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
else:
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
if self.CP.carFingerprint in HONDA_BOSCH:
if self.CP.carFingerprint in HONDA_BOSCH or self.CP.carFingerprint in HONDA_RADARLESS:
self.stock_hud = False
ret.stockFcw = False
else:
@ -333,7 +334,14 @@ class CarState(CarStateBase):
("STEERING_CONTROL", 100),
]
if CP.carFingerprint not in HONDA_BOSCH:
if CP.carFingerprint in HONDA_RADARLESS:
signals += [("CRUISE_SPEED", "ACC_HUD", 255),
]
checks += [
("ACC_HUD", 0),
]
elif CP.carFingerprint not in HONDA_BOSCH:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
("AEB_REQ_1", "BRAKE_COMMAND", 0),
("FCW", "BRAKE_COMMAND", 0),

7
selfdrive/car/honda/interface.py
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@ -3,7 +3,7 @@ from cereal import car
from panda import Panda
from common.numpy_fast import interp
from common.params import Params
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_RADARLESS
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@ -41,6 +41,9 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
ret.pcmCruise = not ret.openpilotLongitudinalControl
elif candidate in HONDA_RADARLESS:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaRadarless)]
ret.radarOffCan = True
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[0]
@ -104,7 +107,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_22):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE

37
selfdrive/car/honda/values.py
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@ -69,6 +69,7 @@ class CAR:
CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
CIVIC_22 = "HONDA CIVIC 2022"
ACURA_ILX = "ACURA ILX 2016"
CRV = "HONDA CR-V 2016"
CRV_5G = "HONDA CR-V 2017"
@ -1351,6 +1352,40 @@ FW_VERSIONS = {
b'57114-TYF-E030\x00\x00'
],
},
CAR.CIVIC_22:{
(Ecu.eps, 0x18DA30F1, None):[
b'39990-T39-A130\x00\x00',
b'39990-T43-J020\x00\x00', #hatch
],
(Ecu.gateway, 0x18DAEFF1, None):[
b'38897-T20-A020\x00\x00',
b'38897-T20-A510\x00\x00', #hatch
b'38897-T21-A010\x00\x00',
],
(Ecu.srs, 0x18DA53F1, None):[
b'77959-T20-A970\x00\x00',
b'77959-T47-A940\x00\x00', #hatch
],
(Ecu.combinationMeter, 0x18DA60F1, None):[
b'78108-T21-A220\x00\x00',
b'78108-T21-A620\x00\x00',
b'78108-T23-A110\x00\x00', #hatch
],
(Ecu.vsa, 0x18DA28F1, None):[
b'57114-T20-AB40\x00\x00',
b'57114-T43-JB30\x00\x00', #hatch
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-65D-A020\x00\x00',
b'28101-65D-A120\x00\x00', #hatch
b'28101-65H-A020\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-64L-A540\x00\x00',
b'37805-64S-A540\x00\x00',
b'37805-64S-A720\x00\x00', #hatch
],
},
}
DBC = {
@ -1377,6 +1412,7 @@ DBC = {
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC_22: dbc_dict('honda_civic_ex_2022_can_generated', None),
}
STEER_THRESHOLD = {
@ -1391,3 +1427,4 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.C
HONDA_BOSCH = set([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])
HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
HONDA_RADARLESS = set([CAR.CIVIC_22, ])

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