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Adds support for 2016 Honda CR-V Touring

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This commit is contained in:
Ted Slesinski
2017-06-08 01:37:39 -04:00
parent 7fe46f1e1d
commit 7b5ee81d2d
6 changed files with 421 additions and 22 deletions
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selfdrive/car/honda/carcontroller.py
+13 -9
View File
@@ -55,7 +55,7 @@ def process_hud_alert(hud_alert):
fcw_display = 0
steer_required = 0
acc_alert = 0
if hud_alert == AH.NONE: # no alert
if hud_alert == AH.NONE: # no alert
pass
elif hud_alert == AH.FCW: # FCW
fcw_display = hud_alert[1]
@@ -146,7 +146,11 @@ class CarController(object):
# steer torque is converted back to CAN reference (positive when steering right)
apply_gas = int(clip(final_gas*GAS_MAX, 0, GAS_MAX-1))
apply_brake = int(clip(final_brake*BRAKE_MAX, 0, BRAKE_MAX-1))
apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
# crvtodo: tweak steering to match precision of 0xE4 code.
if CS.crv
apply_steer = int(clip((-final_steer*.996)*0x7F0, -0x7F0, 0x7F0))
else:
apply_steer = int(clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
# no gas if you are hitting the brake or the user is
if apply_gas > 0 and (apply_brake != 0 or CS.brake_pressed):
@@ -180,7 +184,8 @@ class CarController(object):
print "STEER ERROR"
self.controls_allowed = False
if CS.brake_error:
# crvtodo, fix brake error, might be issue with dbc.
if CS.brake_error and not CS.crv:
print "BRAKE ERROR"
self.controls_allowed = False
@@ -197,7 +202,7 @@ class CarController(object):
can_sends.append(hondacan.create_accord_steering_control(apply_steer, idx))
else:
idx = frame % 4
can_sends.append(hondacan.create_steering_control(apply_steer, idx))
can_sends.extend(hondacan.create_steering_control(apply_steer, CS.crv, idx))
# Send gas and brake commands.
if (frame % 2) == 0:
@@ -206,7 +211,7 @@ class CarController(object):
hondacan.create_brake_command(apply_brake, pcm_override,
pcm_cancel_cmd, hud.chime, idx))
if not CS.brake_only:
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
gas_amount = (apply_gas + GAS_OFFSET) * (apply_gas > 0)
can_sends.append(hondacan.create_gas_command(gas_amount, idx))
@@ -214,17 +219,16 @@ class CarController(object):
# Send dashboard UI commands.
if (frame % 10) == 0:
idx = (frame/10) % 4
can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, idx))
can_sends.extend(hondacan.create_ui_commands(pcm_speed, hud, CS.civic, CS.accord, CS.crv, idx))
# radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
if CS.civic or CS.accord:
if CS.civic or CS.accord or CS.crv:
radar_send_step = 5
else:
radar_send_step = 2
if (frame % radar_send_step) == 0:
idx = (frame/radar_send_step) % 4
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, idx))
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, CS.accord, CS.crv, idx))
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
selfdrive/car/honda/carstate.py
+69 -2
View File
@@ -162,7 +162,58 @@ def get_can_parser(CP):
(0x324, 10),
(0x405, 3),
]
elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
dbc_f = 'honda_crv_touring_2016_can.dbc'
signals = [
("XMISSION_SPEED", 0x158, 0),
("WHEEL_SPEED_FL", 0x1d0, 0),
("WHEEL_SPEED_FR", 0x1d0, 0),
("WHEEL_SPEED_RL", 0x1d0, 0),
("STEER_ANGLE", 0x156, 0),
("STEER_TORQUE_SENSOR", 0x18f, 0),
("GEAR", 0x191, 0),
("WHEELS_MOVING", 0x1b0, 1),
("DOOR_OPEN_FL", 0x405, 1),
("DOOR_OPEN_FR", 0x405, 1),
("DOOR_OPEN_RL", 0x405, 1),
("DOOR_OPEN_RR", 0x405, 1),
("CRUISE_SPEED_PCM", 0x324, 0),
("SEATBELT_DRIVER_LAMP", 0x305, 1),
("SEATBELT_DRIVER_LATCHED", 0x305, 0),
("BRAKE_PRESSED", 0x17c, 0),
#("CAR_GAS", 0x130, 0),
("CRUISE_BUTTONS", 0x1a6, 0),
("ESP_DISABLED", 0x1a4, 1),
("HUD_LEAD", 0x30c, 0),
("USER_BRAKE", 0x1a4, 0),
("STEER_STATUS", 0x18f, 5),
("WHEEL_SPEED_RR", 0x1d0, 0),
("BRAKE_ERROR_1", 0x1b0, 1),
("BRAKE_ERROR_2", 0x1b0, 1),
("GEAR_SHIFTER", 0x191, 0),
("MAIN_ON", 0x1a6, 0),
("ACC_STATUS", 0x17c, 0),
("PEDAL_GAS", 0x17c, 0),
("CRUISE_SETTING", 0x1a6, 0),
("LEFT_BLINKER", 0x294, 0),
("RIGHT_BLINKER", 0x294, 0),
("COUNTER", 0x324, 0),
("ENGINE_RPM", 0x17C, 0)
]
checks = [
(0x156, 100),
(0x158, 100),
(0x17c, 100),
(0x191, 100),
(0x1a3, 50),
(0x1a4, 50),
(0x1a6, 50),
(0x1b0, 50),
(0x1d0, 50),
(0x305, 10),
(0x324, 10),
(0x405, 3),
]
# add gas interceptor reading if we are using it
if CP.enableGas:
signals.append(("INTERCEPTOR_GAS", 0x201, 0))
@@ -181,6 +232,8 @@ class CarState(object):
elif CP.carFingerprint == "HONDA ACCORD 2016 TOURING":
# fake civic
self.accord = True
elif CP.carFingerprint == "HONDA CR-V 2016 TOURING":
self.crv = True
else:
raise ValueError("unsupported car %s" % CP.carFingerprint)
@@ -278,6 +331,17 @@ class CarState(object):
self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
elif self.crv:
self.gear_shifter = cp.vl[0x191]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
self.gear = cp.vl[0x191]['GEAR']
self.cruise_setting = cp.vl[0x1A6]['CRUISE_SETTING']
self.cruise_buttons = cp.vl[0x1A6]['CRUISE_BUTTONS']
self.main_on = cp.vl[0x1A6]['MAIN_ON']
self.gear_shifter_valid = self.gear_shifter in [1,4] # TODO: 1/P allowed for debug
self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
else:
self.gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@@ -293,6 +357,10 @@ class CarState(object):
# on the accord, this doesn't seem to include cruise control
self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
self.steer_override = False
elif self.crv:
# like accord, crv doesn't include cruise control
self.car_gas = cp.vl[0x17C]['PEDAL_GAS']
self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
else:
self.car_gas = cp.vl[0x130]['CAR_GAS']
self.steer_override = abs(cp.vl[0x18F]['STEER_TORQUE_SENSOR']) > 1200
@@ -304,4 +372,3 @@ class CarState(object):
self.pedal_gas = cp.vl[0x17C]['PEDAL_GAS']
self.hud_lead = cp.vl[0x30C]['HUD_LEAD']
self.counter_pcm = cp.vl[0x324]['COUNTER']
selfdrive/car/honda/hondacan.py
+17 -7
View File
@@ -68,12 +68,18 @@ def create_accord_steering_control(apply_steer, idx):
return [0,0,dat,8]
def create_steering_control(apply_steer, idx):
def create_steering_control(apply_steer, crv, idx):
"""Creates a CAN message for the Honda DBC STEERING_CONTROL."""
msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
return make_can_msg(0xe4, msg, idx, 0)
commands = []
if crv:
msg_0x194 = struct.pack("!h", apply_steer << 4) + ("\x80" if apply_steer != 0 else "\x00")
commands.append(make_can_msg(0x194, msg_0x194, idx, 0))
else:
msg_0xe4 = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
commands.append(make_can_msg(0xe4, msg_0xe4, idx, 0))
return commands
def create_ui_commands(pcm_speed, hud, civic, accord, idx):
def create_ui_commands(pcm_speed, hud, civic, accord, crv, idx):
"""Creates an iterable of CAN messages for the UIs."""
commands = []
pcm_speed_real = np.clip(int(round(pcm_speed / 0.002759506)), 0,
@@ -94,14 +100,15 @@ def create_ui_commands(pcm_speed, hud, civic, accord, idx):
commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
return commands
def create_radar_commands(v_ego, civic, accord, idx):
def create_radar_commands(v_ego, civic, accord, crv, idx):
"""Creates an iterable of CAN messages for the radar system."""
commands = []
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
speed = struct.pack('!B', v_ego_kph)
msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +\
("\x20" if idx == 0 or idx == 3 else "\x00") +\
"\x00\x00")
("\x20" if idx == 0 or idx == 3 else "\x00") +\
"\x00\x00")
if civic:
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
# add 8 on idx.
@@ -112,6 +119,9 @@ def create_radar_commands(v_ego, civic, accord, idx):
msg_0x301 = "\x0e\xd8\x52\x22\x56\x00\x00"
# add 0xc on idx? WTF is this?
commands.append(make_can_msg(0x300, msg_0x300, idx + 0xc, 1))
elif crv:
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
else:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
selfdrive/car/honda/interface.py
+3 -3
View File
@@ -181,7 +181,8 @@ class CarInterface(object):
errors.append('steerTemporarilyUnavailable')
if self.CS.brake_error:
errors.append('brakeUnavailable')
if not self.CS.gear_shifter_valid:
# crvtodo: fix gearbox read.
if not self.CS.gear_shifter_valid and not self.CS.crv:
errors.append('wrongGear')
if not self.CS.door_all_closed:
errors.append('doorOpen')
@@ -212,7 +213,7 @@ class CarInterface(object):
hud_v_cruise = 255
hud_alert = {
"none": AH.NONE,
"none": AH.NONE,
"fcw": AH.FCW,
"steerRequired": AH.STEER,
"brakePressed": AH.BRAKE_PRESSED,
@@ -246,4 +247,3 @@ class CarInterface(object):
self.frame += 1
return not (c.enabled and not self.CC.controls_allowed)