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enableBsm for CRV HYBRID #92

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merged 3 commits into from
Aug 17, 2021
Merged

enableBsm for CRV HYBRID #92

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9b76c10
enableBsm for CRV HYBRID
loveloveses Aug 13, 2021
a85f8d1
enable bsm for CRV HYBRID
loveloveses Aug 13, 2021
76c77a1
enable bsm for CRV HYBRID
loveloveses Aug 13, 2021
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4 changes: 2 additions & 2 deletions selfdrive/car/honda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -385,7 +385,7 @@ def update(self, cp, cp_cam, cp_body):
self.stock_hud = cp_cam.vl["ACC_HUD"]
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]

if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, CAR.CRV_HYBRID,):
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
# more info here: https://github.com/commaai/openpilot/pull/1867
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
Expand Down Expand Up @@ -425,7 +425,7 @@ def get_cam_can_parser(CP):

@staticmethod
def get_body_can_parser(CP):
if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
if CP.enableBsm and CP.carFingerprint in (CAR.CRV_5G, CAR.CRV_HYBRID,):
signals = [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
("BSM_ALERT", "BSM_STATUS_LEFT", 0)]

Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/honda/interface.py
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Expand Up @@ -134,7 +134,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # py
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera

if candidate == CAR.CRV_5G:
if candidate in (CAR.CRV_5G, CAR.CRV_HYBRID,):
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]

# Accord 1.5T CVT has different gearbox message
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/honda/values.py
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Expand Up @@ -1245,7 +1245,7 @@ class CAR:
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, body_dbc='honda_crv_ex_2017_body_generated'),
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.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_hrv_touring_2019_can_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
Expand Down