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Civic Type R support #32920

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Civic Type R support #32920

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19405ff
init Civic Type R
vanillagorillaa Jul 6, 2024
9812344
fix
vanillagorillaa Jul 6, 2024
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2 changes: 1 addition & 1 deletion opendbc
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Submodule opendbc updated 2 files
+6 −0 generator/honda/honda_civic_ex_2022_can.dbc
+6 −0 honda_civic_ex_2022_can_generated.dbc
18 changes: 14 additions & 4 deletions selfdrive/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
HondaFlags
HondaFlags, GearShifter
from openpilot.selfdrive.car.interfaces import CarStateBase

TransmissionType = car.CarParams.TransmissionType
Expand Down Expand Up @@ -87,12 +87,15 @@ def __init__(self, CP):
self.gearbox_msg = "GEARBOX"
if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_15T"
elif CP.transmissionType == TransmissionType.manual:
self.gearbox_msg = "GEARBOX_BOH"

self.main_on_sig_msg = "SCM_FEEDBACK"
if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
self.main_on_sig_msg = "SCM_BUTTONS"

self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
if CP.transmissionType != TransmissionType.manual:
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])

self.brake_switch_prev = False
Expand Down Expand Up @@ -184,8 +187,15 @@ def update(self, cp, cp_cam, cp_body):
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0

gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
if self.CP.transmissionType == TransmissionType.manual:
ret.clutchPressed = cp.vl["GEARBOX_BOH"]["GEAR_MT"] == 0
if cp.vl["GEARBOX_BOH"]["GEAR_MT"] == 14:
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive
else:
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))

ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 1e-5
Expand Down
5 changes: 5 additions & 0 deletions selfdrive/car/honda/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -856,6 +856,7 @@
b'39990-T24-T120\x00\x00',
b'39990-T39-A130\x00\x00',
b'39990-T43-J020\x00\x00',
b'39990-T60-J030\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-T20-A020\x00\x00',
Expand All @@ -864,13 +865,15 @@
b'38897-T20-A510\x00\x00',
b'38897-T21-A010\x00\x00',
b'38897-T24-Z120\x00\x00',
b'38897-T60-A110\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-T20-A970\x00\x00',
b'77959-T20-A980\x00\x00',
b'77959-T20-M820\x00\x00',
b'77959-T47-A940\x00\x00',
b'77959-T47-A950\x00\x00',
b'77959-T60-A920\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T20-A060\x00\x00',
Expand All @@ -881,11 +884,13 @@
b'36161-T47-A070\x00\x00',
b'8S102-T20-AA10\x00\x00',
b'8S102-T47-AA10\x00\x00',
b'8S102-T60-AA10\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-T20-AB40\x00\x00',
b'57114-T24-TB30\x00\x00',
b'57114-T43-JB30\x00\x00',
b'57114-T60-AA20\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-65D-A020\x00\x00',
Expand Down
3 changes: 3 additions & 0 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
# Accord ICE 1.5T CVT has different gearbox message
if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt
# New Civics can have manual transmission
elif candidate == CAR.HONDA_CIVIC_2022 and 0x191 not in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.manual

# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
Expand Down
1 change: 1 addition & 0 deletions selfdrive/car/honda/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert
GearShifter = car.CarState.GearShifter


class CarControllerParams:
Expand Down
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