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Add Port for 2019 Honda Odyssey Exclusive (China version) (#592)

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* Port for 2019 Honda Odyssey China ver

* update as per comments

old-commit-hash: e89fd1236f
This commit is contained in:
eFini
2019-04-09 10:58:56 +10:00
committed by rbiasini
parent 16d9e82fee
commit 4d8a08a828
5 changed files with 56 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/carcontroller.py
+2
View File
@@ -138,6 +138,8 @@ class CarController(object):
STEER_MAX = 0xF00
elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
STEER_MAX = 0x3e8 # CR-V only uses 12-bits and requires a lower value (max value from energee)
elif CS.CP.carFingerprint in (CAR.ODYSSEY_CHN):
STEER_MAX = 0x7FFF
else:
STEER_MAX = 0x1000
selfdrive/car/honda/carstate.py
+32 -7
View File
@@ -60,15 +60,24 @@ def get_can_signals(CP):
("ENGINE_DATA", 100),
("WHEEL_SPEEDS", 50),
("STEERING_SENSORS", 100),
("SCM_FEEDBACK", 10),
("GEARBOX", 100),
("SEATBELT_STATUS", 10),
("CRUISE", 10),
("POWERTRAIN_DATA", 100),
("VSA_STATUS", 50),
("SCM_BUTTONS", 25),
]
if CP.carFingerprint == CAR.ODYSSEY_CHN:
checks += [
("SCM_FEEDBACK", 25),
("SCM_BUTTONS", 50),
]
else:
checks += [
("SCM_FEEDBACK", 10),
("SCM_BUTTONS", 25),
]
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):
@@ -85,11 +94,17 @@ def get_can_signals(CP):
("BRAKE_ERROR_2", "STANDSTILL", 1),
("CRUISE_SPEED_PCM", "CRUISE", 0),
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
checks += [("CRUISE_PARAMS", 50),
("STANDSTILL", 50)]
checks += [("STANDSTILL", 50)]
if CP.carFingerprint == CAR.ODYSSEY_CHN:
checks += [("CRUISE_PARAMS", 10)]
else:
checks += [("CRUISE_PARAMS", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
else:
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
("DOOR_OPEN_FR", "DOORS_STATUS", 1),
@@ -114,6 +129,10 @@ def get_can_signals(CP):
elif CP.carFingerprint == CAR.PILOT:
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
("CAR_GAS", "GAS_PEDAL_2", 0)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
("EPB_STATE", "EPB_STATUS", 0)]
checks += [("EPB_STATUS", 50)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
@@ -130,9 +149,9 @@ def get_can_parser(CP):
def get_cam_can_parser(CP):
signals = []
# all hondas except CRV and RDX use 0xe4 for steering
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX]:
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
@@ -192,6 +211,9 @@ class CarState(object):
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # 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:
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
self.door_all_closed = not cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN']
else:
self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
@@ -251,6 +273,9 @@ class CarState(object):
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
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:
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
else:
self.park_brake = 0 # TODO
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
@@ -260,7 +285,7 @@ class CarState(object):
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
# crv doesn't include cruise control
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019):
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
self.car_gas = self.pedal_gas
else:
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
selfdrive/car/honda/hondacan.py
+2 -2
View File
@@ -65,8 +65,8 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': hud.mini_car,
'HUD_LEAD': hud.car,
'SET_ME_X03': 0x03,
'SET_ME_X03_2': 0x03,
'SET_ME_X03': 0x01 if car_fingerprint == CAR.ODYSSEY_CHN else 0x03,
'SET_ME_X03_2': 0x02 if car_fingerprint == CAR.ODYSSEY_CHN else 0x03,
'SET_ME_X01': 0x01,
}
commands.append(packer.make_can_msg("ACC_HUD", 0, acc_hud_values, idx))
selfdrive/car/honda/interface.py
+13
View File
@@ -286,6 +286,19 @@ class CarInterface(object):
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + std_cargo # mean of 4 models in kg
ret.wheelbase = 2.90 # spec
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35 # from CAR.ODYSSEY
tire_stiffness_factor = 0.82 # from CAR.ODYSSEY
ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
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 in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4303 * CV.LB_TO_KG + std_cargo
selfdrive/car/honda/values.py
+7
View File
@@ -66,6 +66,7 @@ class CAR:
CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX"
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
PILOT = "HONDA PILOT 2017 TOURING"
PILOT_2019 = "HONDA PILOT 2019 ELITE"
@@ -109,6 +110,9 @@ FINGERPRINTS = {
{
57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 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, 1616: 5, 1619: 5, 1623: 5, 1668: 5
}],
CAR.ODYSSEY_CHN: [{
57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
}],
# 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
CAR.PILOT: [{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
@@ -141,6 +145,7 @@ DBC = {
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.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'),
CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
@@ -157,6 +162,7 @@ STEER_THRESHOLD = {
CAR.CRV: 1200,
CAR.CRV_5G: 1200,
CAR.ODYSSEY: 1200,
CAR.ODYSSEY_CHN: 1200,
CAR.PILOT: 1200,
CAR.PILOT_2019: 1200,
CAR.RIDGELINE: 1200,
@@ -173,6 +179,7 @@ SPEED_FACTOR = {
CAR.CRV: 1.025,
CAR.CRV_5G: 1.025,
CAR.ODYSSEY: 1.,
CAR.ODYSSEY_CHN: 1.,
CAR.PILOT: 1.,
CAR.PILOT_2019: 1.,
CAR.RIDGELINE: 1.,