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Adds 2016 CR-V Executive (Euro version of Touring trim) (#1097) 

Co-authored-by: Ted Slesinski <ted_slesinski@epam.com>
albatross
Chris Souers 2020-03-13 14:48:08 -04:00 committed by GitHub
parent 58a9a858b6
commit 035397cd31
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 28 additions and 6 deletions
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2
selfdrive/car/honda/carcontroller.py
View File

@ -30,7 +30,7 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
brake_steady = brake + brake_hyst_gap
brake = brake_steady
if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV)) and brake > 0.0:
if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV, CAR.CRV_EU)) and brake > 0.0:
brake += 0.15
return brake, braking, brake_steady

6
selfdrive/car/honda/carstate.py
View File

@ -123,7 +123,7 @@ def get_can_signals(CP):
elif CP.carFingerprint == CAR.ACURA_ILX:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
elif CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.FIT:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@ -238,7 +238,7 @@ class CarState(CarStateBase):
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, CAR.ODYSSEY_CHN):
if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
ret.gas = self.pedal_gas / 256.
else:
ret.gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS'] / 256.
@ -337,7 +337,7 @@ class CarState(CarStateBase):
# 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, CAR.ODYSSEY_CHN]:
if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2

2
selfdrive/car/honda/interface.py
View File

@ -219,7 +219,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV:
elif candidate in (CAR.CRV, CAR.CRV_EU):
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62

19
selfdrive/car/honda/values.py
View File

@ -31,6 +31,7 @@ class CAR:
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX"
CRV_EU = "HONDA CR-V 2016 EXECUTIVE"
CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
FIT = "HONDA FIT 2018 EX"
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
@ -82,6 +83,10 @@ FINGERPRINTS = {
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: 2, 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
}],
# 1057: 5 1024: 5 are also on the OBD2 bus. their lengths differ from the camera's f-can bus. re-fingerprint after obd2 connection is split in panda firmware from bus 1.
CAR.CRV_EU: [{
57: 3, 145: 8, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 404: 4, 419: 8, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 510: 3, 538: 3, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 768: 8, 769: 8, 773: 7, 777: 8, 780: 8, 800: 8, 801: 3, 803: 8, 804: 8, 808: 8, 824: 8, 829: 5, 837: 5, 862: 8, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 930: 8, 931: 8, 983: 8, 1024: 8, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1040: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1045: 8, 1046: 8, 1047: 8, 1056: 8, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1064: 7, 1072: 8, 1073: 8, 1074: 8, 1075: 8, 1076: 8, 1077: 8, 1078: 8, 1079: 8, 1080: 8, 1081: 8, 1088: 8, 1089: 8, 1090: 8, 1091: 8, 1092: 8, 1093: 8, 1108: 8, 1125: 8, 1279: 8, 1280: 8, 1296: 8, 1297: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
}],
CAR.CRV_HYBRID: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 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, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
}],
@ -126,7 +131,7 @@ FINGERPRINTS = {
}
# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL]
IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU]
# add DIAG_MSGS to fingerprints
for c in FINGERPRINTS:
@ -492,6 +497,15 @@ FW_VERSIONS = {
b'77959-TLA-A320\x00\x00',
],
},
CAR.CRV_EU: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [b'37805-R5Z-G740\x00\x00'],
(Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'],
(Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'],
(Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'],
(Ecu.transmission, 0x18da1ef1, None): [b'28101-5LH-E120\x00\x00'],
(Ecu.combinationMeter, 0x18da60f1, None): [b'78109-T1V-G020\x00\x00'],
(Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'],
},
CAR.CRV_HYBRID: {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TPA-G020\x00\x00',
@ -664,6 +678,7 @@ DBC = {
CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_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_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
@ -685,6 +700,7 @@ STEER_THRESHOLD = {
CAR.CIVIC_BOSCH_DIESEL: 1200,
CAR.CRV: 1200,
CAR.CRV_5G: 1200,
CAR.CRV_EU: 400,
CAR.CRV_HYBRID: 1200,
CAR.FIT: 1200,
CAR.ODYSSEY: 1200,
@ -706,6 +722,7 @@ SPEED_FACTOR = {
CAR.CIVIC_BOSCH_DIESEL: 1.,
CAR.CRV: 1.025,
CAR.CRV_5G: 1.025,
CAR.CRV_EU: 1.025,
CAR.CRV_HYBRID: 1.025,
CAR.FIT: 1.,
CAR.ODYSSEY: 1.,

5
selfdrive/test/test_car_models.py
View File

@ -96,6 +96,11 @@ routes = {
'carFingerprint': HONDA.CIVIC,
'enableCamera': True,
},
"a859a044a447c2b0|2020-03-03--18-42-45": {
'carFingerprint': HONDA.CRV_EU,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"232585b7784c1af4|2019-04-08--14-12-14": {
'carFingerprint': HONDA.CRV_HYBRID,
'enableCamera': True,