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Merge new 2019 Civic and existing 2017-18 Civic Hatch (#446)

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* fingerprint and new car

* you know the drill

* fix

* mod civic hatch to work for now

* try to merge hatch and other bosch

* fix

* fixed spaces

* comma (heh)

* make mass civic

* Add to readme. Need to confirm speed

* steering dropout at ~3.3 kph

* Remove additional fingerprint

* combined comment. fixed formatting to match

old-commit-hash: 9eb1666a52
commatwo_master
Chris Souers 7 years ago committed by rbiasini
parent bed4bd3c37
commit f1f9cf6b45
4 changed files with 16 additions and 14 deletions
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  1. 1
      README.md
  2. 10
      selfdrive/car/honda/carstate.py
  3. 4
      selfdrive/car/honda/interface.py
  4. 15
      selfdrive/car/honda/values.py

1
README.md
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@ -69,6 +69,7 @@ Supported Cars
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |

10
selfdrive/car/honda/carstate.py
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@ -70,7 +70,7 @@ def get_can_signals(CP):
if CP.radarOffCan:
# Civic is only bosch to use the same brake message as other hondas.
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@ -88,7 +88,7 @@ def get_can_signals(CP):
checks += [("CRUISE_PARAMS", 50),
("STANDSTILL", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
else:
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@ -191,7 +191,7 @@ class CarState(object):
# ******************* parse out can *******************
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # TODO: find wheels moving bit in dbc
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
else:
@ -249,7 +249,7 @@ class CarState(object):
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
@ -276,7 +276,7 @@ class CarState(object):
if self.CP.radarOffCan:
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH):
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
(self.brake_switch and self.brake_switch_prev and \

4
selfdrive/car/honda/interface.py
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@ -204,9 +204,9 @@ class CarInterface(object):
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
elif candidate == CAR.CIVIC_HATCH:
elif candidate == CAR.CIVIC_BOSCH:
stop_and_go = True
ret.mass = 2916. * CV.LB_TO_KG + std_cargo
ret.mass = mass_civic
ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic
ret.steerRatio = 14.63 # 10.93 is spec end-to-end

15
selfdrive/car/honda/values.py
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@ -61,7 +61,7 @@ class CAR:
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
CIVIC = "HONDA CIVIC 2016 TOURING"
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
CIVIC_BOSCH = "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019"
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX"
@ -91,8 +91,9 @@ FINGERPRINTS = {
CAR.CIVIC: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
}],
CAR.CIVIC_HATCH: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
CAR.CIVIC_BOSCH: [{
# 2017 Civic Hatchback EX and 2019 Civic Sedan Touring Canadian
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8,
}],
CAR.CRV: [{
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
@ -136,7 +137,7 @@ DBC = {
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_HATCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_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.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
@ -152,7 +153,7 @@ STEER_THRESHOLD = {
CAR.ACURA_ILX: 1200,
CAR.ACURA_RDX: 400,
CAR.CIVIC: 1200,
CAR.CIVIC_HATCH: 1200,
CAR.CIVIC_BOSCH: 1200,
CAR.CRV: 1200,
CAR.CRV_5G: 1200,
CAR.ODYSSEY: 1200,
@ -168,7 +169,7 @@ SPEED_FACTOR = {
CAR.ACURA_ILX: 1.,
CAR.ACURA_RDX: 1.,
CAR.CIVIC: 1.,
CAR.CIVIC_HATCH: 1.,
CAR.CIVIC_BOSCH: 1.,
CAR.CRV: 1.025,
CAR.CRV_5G: 1.025,
CAR.ODYSSEY: 1.,
@ -178,4 +179,4 @@ SPEED_FACTOR = {
}
# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G]

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