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Adds 1.5L accord support (#321)

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* Adds support for 1.5L Accord

* Merge opendbc subtree
This commit is contained in:
Ted Slesinski
2018-08-14 01:38:14 -04:00
committed by rbiasini
parent 2cfdc67610
commit 33a75c3506
6 changed files with 387 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/carstate.py
+4 -4
View File
@@ -18,7 +18,7 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
return "drive"
elif can_gear_shifter == 0xa:
return "sport"
elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX, CAR.CRV_5G, CAR.CIVIC_HATCH):
elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX, CAR.ACCORD_15, CAR.CRV_5G, CAR.CIVIC_HATCH):
if can_gear_shifter == 0x1:
return "park"
elif can_gear_shifter == 0x2:
@@ -119,7 +119,7 @@ def get_can_signals(CP):
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("CRUISE_PARAMS", 50)]
if CP.carFingerprint == CAR.ACCORD:
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
else:
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@@ -212,7 +212,7 @@ class CarState(object):
# ******************* parse out can *******************
if self.CP.carFingerprint == CAR.ACCORD: # TODO: find wheels moving bit in dbc
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # 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:
@@ -266,7 +266,7 @@ 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.CIVIC_HATCH):
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH):
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']
selfdrive/car/honda/hondacan.py
+3 -3
View File
@@ -2,7 +2,7 @@ import struct
import common.numpy_fast as np
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import CAR
from selfdrive.car.honda.values import CAR, HONDA_BOSCH
# *** Honda specific ***
def can_cksum(mm):
@@ -70,7 +70,7 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i
"STEER_TORQUE_REQUEST": lkas_active,
}
# Set bus 2 for accord and new crv.
bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0
bus = 2 if car_fingerprint in HONDA_BOSCH else 0
return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
@@ -80,7 +80,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
bus = 0
# Bosch sends commands to bus 2.
if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
if car_fingerprint in HONDA_BOSCH:
bus = 2
else:
acc_hud_values = {
selfdrive/car/honda/interface.py
+1 -1
View File
@@ -204,7 +204,7 @@ class CarInterface(object):
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ACCORD:
elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + std_cargo
selfdrive/car/honda/values.py
+8 -2
View File
@@ -38,6 +38,7 @@ class AH:
class CAR:
ACCORD = "HONDA ACCORD 2018 SPORT 2T"
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
CIVIC = "HONDA CIVIC 2016 TOURING"
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
@@ -53,13 +54,16 @@ FINGERPRINTS = {
CAR.ACCORD: [{
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, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
CAR.ACCORD_15: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
CAR.ACURA_ILX: [{
57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
}],
# Acura RDX w/ Added Comma Pedal Support (512L & 513L)
CAR.ACURA_RDX: [{
57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
}],
}],
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,
}],
@@ -93,6 +97,7 @@ FINGERPRINTS = {
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
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'),
@@ -107,6 +112,7 @@ DBC = {
STEER_THRESHOLD = {
CAR.ACCORD: 1200,
CAR.ACCORD_15: 1200,
CAR.ACURA_ILX: 1200,
CAR.ACURA_RDX: 400,
CAR.CIVIC: 1200,
@@ -119,4 +125,4 @@ STEER_THRESHOLD = {
}
# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]