Add 2020 Acura RDX (#1557)
Update CAN Fingerprint Update files_common Update test_car_models.pyalbatross
Chris Souers
GitHub
parent
f9a5f71bf5
commit
dc8b5538e8
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@ -66,6 +66,7 @@ Supported Cars
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| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
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| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
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| Acura | RDX 2020 | AcuraWatch | Stock | 0mph | 3mph |
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| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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@ -525,6 +525,7 @@ opendbc/honda_accord_s2t_2018_can_generated.dbc
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opendbc/honda_accord_lx15t_2018_can_generated.dbc
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opendbc/acura_ilx_2016_can_generated.dbc
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opendbc/acura_rdx_2018_can_generated.dbc
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opendbc/acura_rdx_2020_can_generated.dbc
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opendbc/honda_civic_touring_2016_can_generated.dbc
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opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
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opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
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@ -70,7 +70,7 @@ def get_can_signals(CP):
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("SCM_BUTTONS", 25),
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]
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if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL):
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if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G):
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checks += [
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("GEARBOX", 50),
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]
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@ -106,8 +106,7 @@ def get_can_signals(CP):
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checks += [("CRUISE_PARAMS", 10)]
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else:
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checks += [("CRUISE_PARAMS", 50)]
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
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signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
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@ -189,7 +188,7 @@ class CarState(CarStateBase):
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# ******************* parse out can *******************
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# TODO: find wheels moving bit in dbc
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
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ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -239,7 +238,7 @@ class CarState(CarStateBase):
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self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH,
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CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
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self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
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main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -196,7 +196,7 @@ class CarInterface(CarInterfaceBase):
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elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
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stop_and_go = True
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if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
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ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.centerToFront = ret.wheelbase * 0.39
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@ -243,7 +243,7 @@ class CarInterface(CarInterfaceBase):
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elif candidate == CAR.CRV_5G:
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stop_and_go = True
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
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ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.66
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ret.centerToFront = ret.wheelbase * 0.41
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@ -265,7 +265,7 @@ class CarInterface(CarInterfaceBase):
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elif candidate == CAR.CRV_HYBRID:
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stop_and_go = True
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
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ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
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ret.wheelbase = 2.66
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ret.centerToFront = ret.wheelbase * 0.41
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@ -320,6 +320,21 @@ class CarInterface(CarInterfaceBase):
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.ACURA_RDX_3G:
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stop_and_go = True
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ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
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ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.75
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 11.95 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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tire_stiffness_factor = 0.677
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.ODYSSEY:
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stop_and_go = False
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ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
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@ -40,6 +40,7 @@ class CAR:
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ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
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ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
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ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
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ACURA_RDX_3G = "ACURA RDX 2020 TECH"
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PILOT = "HONDA PILOT 2017 TOURING"
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PILOT_2019 = "HONDA PILOT 2019 ELITE"
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RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
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@ -65,6 +66,9 @@ FINGERPRINTS = {
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CAR.ACURA_RDX: [{
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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
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}],
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CAR.ACURA_RDX_3G: [{
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57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 507: 1, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 6, 1092: 1, 1108: 8, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
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}],
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CAR.CIVIC: [{
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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,
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}],
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@ -137,7 +141,7 @@ FINGERPRINTS = {
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}
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# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
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IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU, CAR.HRV]
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IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU, CAR.HRV, CAR.ACURA_RDX_3G]
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# add DIAG_MSGS to fingerprints
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for c in FINGERPRINTS:
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@ -856,6 +860,19 @@ FW_VERSIONS = {
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b'57114-TGT-A530\x00\x00',
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],
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},
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CAR.ACURA_RDX_3G: {
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(Ecu.programmedFuelInjection, 0x18da10f1, None): [b'37805-5YF-A420\x00\x00'],
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(Ecu.vsa, 0x18da28f1, None): [b'57114-TJB-A040\x00\x00'],
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(Ecu.fwdRadar, 0x18dab0f1, None): [b'36802-TJB-A040\x00\x00'],
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(Ecu.fwdCamera, 0x18dab5f1, None): [b'36161-TJB-A040\x00\x00'],
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(Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-TJB-A520\x00\x00'],
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(Ecu.transmission, 0x18da1ef1, None): [b'28102-5YK-A700\x00\x00'],
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(Ecu.combinationMeter, 0x18da60f1, None): [b'78109-TJB-AB10\x00\x00'],
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(Ecu.srs, 0x18da53f1, None): [b'77959-TJB-A040\x00\x00'],
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(Ecu.electricBrakeBooster, 0x18da2bf1, None): [b'46114-TJB-A050\x00\x00'],
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(Ecu.gateway, 0x18daeff1, None): [b'38897-TJB-A110\x00\x00'],
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(Ecu.eps, 0x18da30f1, None): [b'39990-TJB-A030\x00\x00'],
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},
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CAR.RIDGELINE: {
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(Ecu.eps, 0x18da30f1, None): [
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b'39990-T6Z-A020\x00\x00',
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@ -933,6 +950,7 @@ DBC = {
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CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
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CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
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CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
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CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
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CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
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CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
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CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
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@ -956,6 +974,7 @@ STEER_THRESHOLD = {
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CAR.ACCORDH: 1200,
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CAR.ACURA_ILX: 1200,
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CAR.ACURA_RDX: 400,
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CAR.ACURA_RDX_3G: 1200,
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CAR.CIVIC: 1200,
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CAR.CIVIC_BOSCH: 1200,
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CAR.CIVIC_BOSCH_DIESEL: 1200,
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@ -979,6 +998,7 @@ SPEED_FACTOR = {
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CAR.ACCORDH: 1.,
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CAR.ACURA_ILX: 1.,
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CAR.ACURA_RDX: 1.,
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CAR.ACURA_RDX_3G: 1.,
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CAR.CIVIC: 1.,
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CAR.CIVIC_BOSCH: 1.,
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CAR.CIVIC_BOSCH_DIESEL: 1.,
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@ -1002,4 +1022,4 @@ ECU_FINGERPRINT = {
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Ecu.fwdCamera: [0xE4, 0x194], # steer torque cmd
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}
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HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT])
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HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
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@ -92,6 +92,11 @@ routes = {
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'carFingerprint': GM.BUICK_REGAL,
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'enableCamera': True,
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},
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"0e7a2ba168465df5|2020-10-18--14-14-22": {
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'carFingerprint': HONDA.ACURA_RDX_3G,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"a74b011b32b51b56|2020-07-26--17-09-36": {
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'carFingerprint': HONDA.CIVIC,
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'enableCamera': True,
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