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Add port for 2019 Honda CRV Hybrid (China ver) #596

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merged 6 commits into from
Apr 10, 2019
Merged

Add port for 2019 Honda CRV Hybrid (China ver) #596

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838299f
2019 honda crv hybrid port (china version)
eFiniLan Apr 8, 2019
171efba
adjust mass based on spec
eFiniLan Apr 8, 2019
2492eb7
update mass based on spec
eFiniLan Apr 8, 2019
e9c92bc
Merge branch 'devel-2019-honda-crv-hybrid' of https://github.com/eFin…
eFiniLan Apr 8, 2019
2afba02
Merge branch 'devel' of https://github.com/commaai/openpilot into dev…
eFiniLan Apr 9, 2019
0ddbfb9
add 2019 Honda CRV Hybrid
eFiniLan Apr 9, 2019
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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ Supported Cars
| Honda | Civic Hatchback 2017-19 | 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 |
| Honda | CR-V Hybrid 2019 | All | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
Expand Down
20 changes: 14 additions & 6 deletions selfdrive/car/honda/carstate.py
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Expand Up @@ -60,7 +60,6 @@ def get_can_signals(CP):
("ENGINE_DATA", 100),
("WHEEL_SPEEDS", 50),
("STEERING_SENSORS", 100),
("GEARBOX", 100),
("SEATBELT_STATUS", 10),
("CRUISE", 10),
("POWERTRAIN_DATA", 100),
Expand All @@ -78,9 +77,18 @@ def get_can_signals(CP):
("SCM_BUTTONS", 25),
]

if CP.carFingerprint == CAR.CRV_HYBRID:
checks += [
("GEARBOX", 50),
]
else:
checks += [
("GEARBOX", 100),
]

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_BOSCH):
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
Expand All @@ -101,7 +109,7 @@ def get_can_signals(CP):
else:
checks += [("CRUISE_PARAMS", 50)]

if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
Expand Down Expand Up @@ -208,7 +216,7 @@ def update(self, cp, cp_cam):

# ******************* parse out can *******************

if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # TODO: find wheels moving bit in dbc
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID): # 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']
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
Expand Down Expand Up @@ -270,7 +278,7 @@ def update(self, cp, cp_cam):
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']

if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
Expand Down Expand Up @@ -298,7 +306,7 @@ def update(self, cp, cp_cam):
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_BOSCH, CAR.ACCORDH):
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
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 \
Expand Down
14 changes: 14 additions & 0 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,20 @@ def get_params(candidate, fingerprint):
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]

elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 1667. + std_cargo # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
tire_stiffness_factor = 0.677
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]

elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935 * CV.LB_TO_KG + std_cargo
Expand Down
9 changes: 8 additions & 1 deletion selfdrive/car/honda/values.py
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Expand Up @@ -65,6 +65,7 @@ class CAR:
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX"
CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
Expand Down Expand Up @@ -102,6 +103,9 @@ class CAR:
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: 4, 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
}],
CAR.CRV_HYBRID: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 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, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8
}],
# 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
CAR.ODYSSEY: [{
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
Expand Down Expand Up @@ -144,6 +148,7 @@ class CAR:
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.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
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', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
Expand All @@ -161,6 +166,7 @@ class CAR:
CAR.CIVIC_BOSCH: 1200,
CAR.CRV: 1200,
CAR.CRV_5G: 1200,
CAR.CRV_HYBRID: 1200,
CAR.ODYSSEY: 1200,
CAR.ODYSSEY_CHN: 1200,
CAR.PILOT: 1200,
Expand All @@ -178,6 +184,7 @@ class CAR:
CAR.CIVIC_BOSCH: 1.,
CAR.CRV: 1.025,
CAR.CRV_5G: 1.025,
CAR.CRV_HYBRID: 1.025,
CAR.ODYSSEY: 1.,
CAR.ODYSSEY_CHN: 1.,
CAR.PILOT: 1.,
Expand All @@ -186,4 +193,4 @@ class CAR:
}

# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G]
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G, CAR.CRV_HYBRID]