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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 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 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 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 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> | | 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 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> | | 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 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph | | Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V Hybrid 2017-2019 | 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 opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase 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 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)] signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)] checks += [("BRAKE_MODULE", 50)]
if CP.carFingerprint in HONDA_BOSCH: if CP.carFingerprint in HONDA_BOSCH or CP.carFingerprint in HONDA_RADARLESS:
signals += [ signals += [
("EPB_STATE", "EPB_STATUS", 0), ("EPB_STATE", "EPB_STATUS", 0),
("IMPERIAL_UNIT", "CAR_SPEED", 1), ("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), ("AEB_STATUS", "ACC_CONTROL", 0),
] ]
checks += [ checks += [
("ACC_HUD", 10), ("ACC_HUD", 0), # TODO: Fix this
("ACC_CONTROL", 50), ("ACC_CONTROL", 50),
] ]
else: # Nidec signals else: # Nidec signals
@ -107,7 +107,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
else: else:
checks += [("CRUISE_PARAMS", 50)] 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)] signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN: elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)] signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@ -185,7 +185,7 @@ class CarState(CarStateBase):
# ******************* parse out can ******************* # ******************* parse out can *******************
# TODO: find wheels moving bit in dbc # 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.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN: elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@ -237,7 +237,7 @@ class CarState(CarStateBase):
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 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, 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 self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
else: else:
self.park_brake = 0 # TODO self.park_brake = 0 # TODO
@ -259,13 +259,14 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"] ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200) 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: if not self.CP.openpilotLongitudinalControl:
ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0 ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252. 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. # 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 self.v_cruise_pcm_prev = ret.cruiseState.speed
else: else:
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@ -300,12 +301,12 @@ class CarState(CarStateBase):
else: else:
self.is_metric = False 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) ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
else: else:
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5) 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 self.stock_hud = False
ret.stockFcw = False ret.stockFcw = False
else: else:
@ -333,7 +334,14 @@ class CarState(CarStateBase):
("STEERING_CONTROL", 100), ("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), signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
("AEB_REQ_1", "BRAKE_COMMAND", 0), ("AEB_REQ_1", "BRAKE_COMMAND", 0),
("FCW", "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 panda import Panda
from common.numpy_fast import interp from common.numpy_fast import interp
from common.params import Params 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 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.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu from selfdrive.car.disable_ecu import disable_ecu
@ -41,6 +41,9 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
elif candidate in HONDA_RADARLESS:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaRadarless)]
ret.radarOffCan = True
else: else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[0] 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]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1. 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 stop_and_go = True
ret.mass = CivicParams.MASS ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE 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 = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
CIVIC_22 = "HONDA CIVIC 2022"
ACURA_ILX = "ACURA ILX 2016" ACURA_ILX = "ACURA ILX 2016"
CRV = "HONDA CR-V 2016" CRV = "HONDA CR-V 2016"
CRV_5G = "HONDA CR-V 2017" CRV_5G = "HONDA CR-V 2017"
@ -1351,6 +1352,40 @@ FW_VERSIONS = {
b'57114-TYF-E030\x00\x00' 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 = { DBC = {
@ -1377,6 +1412,7 @@ DBC = {
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'), 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.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_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 = { 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, 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]) 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_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
HONDA_RADARLESS = set([CAR.CIVIC_22, ])

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