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Add support for 2017 Civic Hatch 1.0L Manual (European) #535

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Add support for 2017 Civic Hatch 1.0L Manual (European) #535

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0fba33b
Merge pull request #120 from commaai/devel
espes Jul 29, 2017
b111277
Merge pull request #121 from commaai/devel
espes Jul 31, 2017
cd25fac
Merge pull request #123 from commaai/devel
espes Aug 11, 2017
606c21b
Merge pull request #126 from commaai/devel
espes Aug 17, 2017
577608b
Merge pull request #137 from commaai/devel
espes Oct 4, 2017
5864323
Merge pull request #146 from commaai/devel
espes Nov 4, 2017
5ae7119
Merge pull request #154 from commaai/devel
geohot Dec 8, 2017
c2e120c
Merge pull request #165 from commaai/devel
espes Jan 17, 2018
675d9fe
Merge pull request #176 from commaai/devel
geohot Jan 22, 2018
10cb834
Merge pull request #183 from commaai/devel
geohot Feb 2, 2018
89605ed
Merge pull request #184 from commaai/devel
geohot Feb 3, 2018
e343c95
Update fingerprints.py
ErichMoraga Feb 3, 2018
affc00d
Merge pull request #188 from commaai/devel
geohot Feb 9, 2018
640ab12
openpilot 0.4.3.1 (#220)
geohot Mar 23, 2018
f550656
Revert "openpilot 0.4.3.1 (#220)"
geohot Mar 26, 2018
3e49143
Merge pull request #226 from commaai/revert-220-devel
geohot Mar 26, 2018
88d1dd2
Merge pull request #239 from commaai/devel
geohot May 2, 2018
afdda0e
Merge pull request #256 from commaai/devel
geohot May 30, 2018
30b72e4
Merge pull request #267 from commaai/devel
geohot Jun 19, 2018
27c7425
Merge pull request #277 from commaai/devel
geohot Jun 28, 2018
0ea21f3
Merge pull request #293 from commaai/devel
geohot Jul 14, 2018
8f22f52
openpilot v0.5.1 release (#315)
Aug 4, 2018
63adcfc
Merge pull request #329 from commaai/devel
rbiasini Aug 27, 2018
999edf2
Merge pull request #359 from commaai/devel
rbiasini Sep 11, 2018
ed69575
Merge pull request #379 from commaai/devel
rbiasini Sep 28, 2018
a488442
Revert the changes to GM in 0.5.4 (#380) (#386)
pd0wm Oct 3, 2018
1880165
Merge pull request #405 from commaai/devel
rbiasini Oct 26, 2018
7c0202a
Merge pull request #410 from commaai/devel
rbiasini Oct 27, 2018
9a42f2f
Merge pull request #434 from commaai/devel
rbiasini Nov 14, 2018
9398a28
Merge pull request #448 from commaai/devel
rbiasini Nov 30, 2018
9ce3045
Merge pull request #470 from commaai/devel
rbiasini Dec 18, 2018
17277f5
fingerprint and add car
csouers Dec 20, 2018
02fa5e4
disable
csouers Dec 24, 2018
ccbeda4
FIX
csouers Dec 24, 2018
b32be2f
interface
csouers Dec 24, 2018
5014151
add manual
csouers Dec 24, 2018
9eb3210
move gearbox to exclude manual
csouers Dec 24, 2018
b02dfaa
get rid of gear
csouers Dec 24, 2018
fcbc37a
is this a letter?
csouers Dec 24, 2018
23c8781
hard code gear shifter
csouers Dec 24, 2018
fd7e285
Revert "disable"
csouers Dec 24, 2018
2cee2e0
Merge pull request #519 from commaai/devel
rbiasini Feb 1, 2019
f5854d9
Merge branch 'release2' into 17civicmanual
csouers Feb 9, 2019
0841679
more upstreamable
csouers Feb 9, 2019
897f02c
add civics gearbox message
csouers Feb 9, 2019
99813de
try different debug print
csouers Feb 9, 2019
3564d40
typo
csouers Feb 9, 2019
b907609
interface
csouers Feb 11, 2019
35c2949
interface
csouers Feb 11, 2019
2815a5d
refactor a bit
csouers Feb 21, 2019
5d03df3
disable panda update
csouers Feb 21, 2019
58db309
revert
csouers Feb 21, 2019
129d553
debug. try to wait longer
csouers Feb 21, 2019
7bfd5be
Revert "debug. try to wait longer"
csouers Feb 21, 2019
eb27fb8
disable
csouers Feb 21, 2019
2c90791
temp
csouers Feb 21, 2019
f90bad9
fix
csouers Feb 21, 2019
79120f5
ADD
csouers Feb 21, 2019
7c71357
readme
csouers Feb 21, 2019
e535bcd
Revert "disable"
csouers Feb 21, 2019
3a28190
Revert "temp"
csouers Feb 21, 2019
ec0aa26
Revert "disable panda update"
csouers Feb 21, 2019
9164ac8
Merge branch 'devel' into 17civicmanual
csouers Feb 21, 2019
9f8e68b
fix
csouers Feb 21, 2019
fefa207
adjust
csouers Feb 21, 2019
646bf5d
more logical
csouers Feb 21, 2019
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79 changes: 40 additions & 39 deletions README.md
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Expand Up @@ -58,45 +58,46 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
Supported Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chrysler | Pacifica Hybrid 2017 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| ---------------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chrysler | Pacifica Hybrid 2017 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Civic Hatchback 2017 1.0L Manual | Honda Sensing | Yes | Stock | 15mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |

<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
Expand Down
1 change: 1 addition & 0 deletions cereal/car.capnp
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Expand Up @@ -280,6 +280,7 @@ struct CarParams {
carName @0 :Text;
radarNameDEPRECATED @1 :Text;
carFingerprint @2 :Text;
manualTransmission @ 51 :Bool; #set true if we have a manual transmission

enableSteerDEPRECATED @3 :Bool;
enableGasInterceptor @4 :Bool;
Expand Down
18 changes: 10 additions & 8 deletions selfdrive/car/honda/carstate.py
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Expand Up @@ -39,7 +39,6 @@ def get_can_signals(CP):
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
Expand All @@ -50,7 +49,6 @@ def get_can_signals(CP):
("USER_BRAKE", "VSA_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("STEER_STATUS", "STEER_STATUS", 5),
("GEAR_SHIFTER", "GEARBOX", 0),
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
("CRUISE_SETTING", "SCM_BUTTONS", 0),
("ACC_STATUS", "POWERTRAIN_DATA", 0),
Expand All @@ -61,17 +59,21 @@ def get_can_signals(CP):
("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 not CP.manualTransmission:
signals += [("GEAR", "GEARBOX", 0),
("GEAR_SHIFTER", "GEARBOX", 0)]
checks += [(("GEARBOX", 100))]

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):
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_HATCH_MANUAL_10):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
Expand Down Expand Up @@ -236,7 +238,7 @@ def update(self, cp, cp_cam):
self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change

self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC or self.CP.manualTransmission else cp.vl["GEARBOX"]['GEAR']
self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']

Expand All @@ -248,14 +250,14 @@ def update(self, cp, cp_cam):
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']

if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_HATCH_MANUAL_10):
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
else:
self.park_brake = 0 # TODO
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']

can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
can_gear_shifter = 8 if self.CP.manualTransmission else (cp.vl["GEARBOX"]['GEAR_SHIFTER'])
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)

self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
Expand All @@ -273,7 +275,7 @@ def update(self, cp, cp_cam):
if self.CP.radarOffCan:
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH):
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_HATCH_MANUAL_10, CAR.ACCORDH):
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
(self.brake_switch and self.brake_switch_prev and \
Expand Down
6 changes: 4 additions & 2 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, MANUAL_TRANSMISSION, AUDIO_HUD, VISUAL_HUD
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING

try:
Expand Down Expand Up @@ -158,6 +158,8 @@ def get_params(candidate, fingerprint):
ret.enableGasInterceptor = 0x201 in fingerprint
ret.openpilotLongitudinalControl = ret.enableCamera

ret.manualTransmission = candidate in MANUAL_TRANSMISSION

cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)

Expand Down Expand Up @@ -187,7 +189,7 @@ def get_params(candidate, fingerprint):

ret.steerKf = 0.00006 # conservative feed-forward

if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CIVIC_HATCH_MANUAL_10]:
stop_and_go = True
ret.mass = mass_civic
ret.wheelbase = wheelbase_civic
Expand Down
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