Merge new 2019 Civic and existing 2017-18 Civic Hatch (commaai#446)

* fingerprint and new car

* you know the drill

* fix

* mod civic hatch to work for now

* try to merge hatch and other bosch

* fix

* fixed spaces

* comma (heh)

* make mass civic

* Add to readme. Need to confirm speed

* steering dropout at ~3.3 kph

* Remove additional fingerprint

* combined comment. fixed formatting to match

Author: csouers

README.md

@@ -69,6 +69,7 @@ Supported Cars
 | 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 2017-18  | 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             |

selfdrive/car/honda/carstate.py

@@ -70,7 +70,7 @@ def get_can_signals(CP):
 
   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_HATCH):
+    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH):
       signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
       checks += [("BRAKE_MODULE", 50)]
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -88,7 +88,7 @@ def get_can_signals(CP):
     checks += [("CRUISE_PARAMS", 50),
                ("STANDSTILL", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@@ -191,7 +191,7 @@ def update(self, cp, cp_cam):
 
     # ******************* parse out can *******************
 
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH): # TODO: find wheels moving bit in dbc
       self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
     else:
@@ -249,7 +249,7 @@ def update(self, cp, cp_cam):
     self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
     self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
       self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
       self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
       self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
@@ -276,7 +276,7 @@ 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_HATCH, CAR.ACCORDH):
+      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, 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 \

selfdrive/car/honda/interface.py

@@ -204,9 +204,9 @@ def get_params(candidate, fingerprint):
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.54, 0.36]
 
-    elif candidate == CAR.CIVIC_HATCH:
+    elif candidate == CAR.CIVIC_BOSCH:
       stop_and_go = True
-      ret.mass = 2916. * CV.LB_TO_KG + std_cargo
+      ret.mass = mass_civic
       ret.wheelbase = wheelbase_civic
       ret.centerToFront = centerToFront_civic
       ret.steerRatio = 14.63  # 10.93 is spec end-to-end

selfdrive/car/honda/values.py

@@ -61,7 +61,7 @@ class CAR:
   ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
   ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
   CIVIC = "HONDA CIVIC 2016 TOURING"
-  CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
+  CIVIC_BOSCH = "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019"
   ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
   CRV = "HONDA CR-V 2016 TOURING"
   CRV_5G = "HONDA CR-V 2017 EX"
@@ -91,8 +91,9 @@ class CAR:
   CAR.CIVIC: [{
     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,
   }],
-  CAR.CIVIC_HATCH: [{
-    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, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 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, 1600: 5, 1601: 8, 1633: 8
+  CAR.CIVIC_BOSCH: [{
+  # 2017 Civic Hatchback EX and 2019 Civic Sedan Touring Canadian
+    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, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 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, 1600: 5, 1601: 8, 1633: 8,
   }],
   CAR.CRV: [{
     57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
@@ -136,7 +137,7 @@ class CAR:
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CIVIC_HATCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
+  CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
   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),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
@@ -152,7 +153,7 @@ class CAR:
   CAR.ACURA_ILX: 1200,
   CAR.ACURA_RDX: 400,
   CAR.CIVIC: 1200,
-  CAR.CIVIC_HATCH: 1200,
+  CAR.CIVIC_BOSCH: 1200,
   CAR.CRV: 1200,
   CAR.CRV_5G: 1200,
   CAR.ODYSSEY: 1200,
@@ -168,7 +169,7 @@ class CAR:
   CAR.ACURA_ILX: 1.,
   CAR.ACURA_RDX: 1.,
   CAR.CIVIC: 1.,
-  CAR.CIVIC_HATCH: 1.,
+  CAR.CIVIC_BOSCH: 1.,
   CAR.CRV: 1.025,
   CAR.CRV_5G: 1.025,
   CAR.ODYSSEY: 1.,
@@ -178,4 +179,4 @@ class CAR:
 }
 
 # TODO: get these from dbc file
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
+HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G]