From 7978afabe542289e5a2082491b96c82f85d13765 Mon Sep 17 00:00:00 2001 From: eFini Date: Wed, 10 Apr 2019 10:35:57 +1000 Subject: [PATCH] Add port for 2019 Honda CRV Hybrid (China ver) (#596) * 2019 honda crv hybrid port (china version) * adjust mass based on spec * update mass based on spec * add 2019 Honda CRV Hybrid --- README.md | 1 + selfdrive/car/honda/carstate.py | 20 ++++++++++++++------ selfdrive/car/honda/interface.py | 14 ++++++++++++++ selfdrive/car/honda/values.py | 9 ++++++++- 4 files changed, 37 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index f63d6bcd721eac..a82b98dbc214e3 100644 --- a/README.md +++ b/README.md @@ -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 | 25mph1| 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 | 25mph1| 0mph | Inverted Nidec | | Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | | Honda | Pilot 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec | diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index c3ef71b5eec4bb..b8164e8c52f65a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -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), @@ -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), @@ -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)] @@ -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: @@ -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: @@ -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 \ diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a9c42d8d80c60b..4072b035480af9 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -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 diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index b1278d4df877bc..f106ccab34054c 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -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" @@ -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 @@ -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'), @@ -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, @@ -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., @@ -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]