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Some code refactoring to Honda #335

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merged 4 commits into from
Sep 1, 2018
Merged

Some code refactoring to Honda #335

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22cc515
Move vehicle state values (that get sent to radar) into values.py fil…
energee Aug 25, 2018
dd4c872
idx with offset should only be applied to 0x300
energee Aug 27, 2018
b535b89
Adds new honda pilot to vehicle state msg array
energee Aug 27, 2018
c4d2ac0
Merge branch 'devel' into devel
energee Aug 29, 2018
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24 changes: 5 additions & 19 deletions selfdrive/car/honda/hondacan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

import common.numpy_fast as np
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import CAR, HONDA_BOSCH
from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG

# *** Honda specific ***
def can_cksum(mm):
Expand Down Expand Up @@ -126,28 +126,14 @@ def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
("\x20" if idx == 0 or idx == 3 else "\x00") +
"\x00\x00")
msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]

idx_0x300 = idx
if car_fingerprint == CAR.CIVIC:
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
idx_offset = 0xc if new_radar_config else 0x8 # radar in civic 2018 requires 0xc
commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
else:
if car_fingerprint == CAR.CRV:
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
elif car_fingerprint == CAR.ACURA_RDX:
msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
elif car_fingerprint == CAR.ODYSSEY:
msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
elif car_fingerprint == CAR.ACURA_ILX:
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
elif car_fingerprint == CAR.PILOT:
msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
elif car_fingerprint == CAR.PILOT_2019:
msg_0x301 = "\x00\x00\x58\x02\x5c\x00\x00"
elif car_fingerprint == CAR.RIDGELINE:
msg_0x301 = "\x00\x00\x56\x02\x57\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
idx_0x300 += idx_offset

commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
return commands

Expand Down
13 changes: 13 additions & 0 deletions selfdrive/car/honda/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -145,5 +145,18 @@ class CAR:
CAR.RIDGELINE: 1.,
}

# This message sends car info to the radar that is specific to the model. You
# can determine this message by monitoring the OEM system.
VEHICLE_STATE_MSG = {
CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
}

# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]