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Some code refactoring to Honda (#335)

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* Move vehicle state values (that get sent to radar) into values.py file, its a better place for it :)

* idx with offset should only be applied to 0x300

* Adds new honda pilot to vehicle state msg array
This commit is contained in:
Ted Slesinski
2018-08-31 22:57:11 -04:00
committed by rbiasini
parent 5e37e14498
commit e968bb921d
2 changed files with 18 additions and 19 deletions
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selfdrive/car/honda/hondacan.py
+5 -19
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, HONDA_BOSCH
from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG
# *** Honda specific ***
def can_cksum(mm):
@@ -126,28 +126,14 @@ def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
("\x20" if idx == 0 or idx == 3 else "\x00") +
"\x00\x00")
msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]
idx_0x300 = idx
if car_fingerprint == CAR.CIVIC:
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
idx_offset = 0xc if new_radar_config else 0x8 # radar in civic 2018 requires 0xc
commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
else:
if car_fingerprint == CAR.CRV:
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
elif car_fingerprint == CAR.ACURA_RDX:
msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
elif car_fingerprint == CAR.ODYSSEY:
msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
elif car_fingerprint == CAR.ACURA_ILX:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
elif car_fingerprint == CAR.PILOT:
msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
elif car_fingerprint == CAR.PILOT_2019:
msg_0x301 = "\x00\x00\x58\x02\x5c\x00\x00"
elif car_fingerprint == CAR.RIDGELINE:
msg_0x301 = "\x00\x00\x56\x02\x57\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
idx_0x300 += idx_offset
commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
return commands
selfdrive/car/honda/values.py
+13
View File
@@ -145,5 +145,18 @@ SPEED_FACTOR = {
CAR.RIDGELINE: 1.,
}
# This message sends car info to the radar that is specific to the model. You
# can determine this message by monitoring the OEM system.
VEHICLE_STATE_MSG = {
CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
}
# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]