Add support for accord hybrid (commaai#361)

Author: energee

selfdrive/car/honda/carstate.py

@@ -73,7 +73,7 @@ def get_can_signals(CP):
 
   if CP.radarOffCan:
     # Civic is only bosch to use the same brake message as other hondas.
-    if CP.carFingerprint != CAR.CIVIC_HATCH:
+    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
       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):
                 ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
     checks += [("CRUISE_PARAMS", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@@ -179,7 +179,7 @@ def update(self, cp):
 
     # ******************* parse out can *******************
 
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # 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:
@@ -234,7 +234,7 @@ def update(self, cp):
     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.CIVIC_HATCH):
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
       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']
@@ -261,7 +261,7 @@ def update(self, cp):
     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 == CAR.CIVIC_HATCH:
+      if self.CP.carFingerprint in (CAR.CIVIC_HATCH, 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 +204,10 @@ def get_params(candidate, fingerprint):
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
+    elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
       stop_and_go = True
-      ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
+      if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
+        ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
       ret.mass = 3279. * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39

selfdrive/car/honda/values.py

@@ -7,7 +7,6 @@ class CruiseButtons:
   CANCEL      = 2
   MAIN        = 1
 
-
 #car chimes: enumeration from dbc file. Chimes are for alerts and warnings
 class CM:
   MUTE = 0
@@ -16,7 +15,6 @@ class CM:
   REPEATED = 1
   CONTINUOUS = 2
 
-
 #car beepss: enumeration from dbc file. Beeps are for activ and deactiv
 class BP:
   MUTE = 0
@@ -35,10 +33,10 @@ class AH:
   SEATBELT       = [5, 5]
   SPEED_TOO_HIGH = [6, 8]
 
-
 class CAR:
   ACCORD = "HONDA ACCORD 2018 SPORT 2T"
   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"
   ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
@@ -50,14 +48,16 @@ class CAR:
   PILOT_2019 = "HONDA PILOT 2019 ELITE"
   RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
 
-
 FINGERPRINTS = {
   CAR.ACCORD: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
   CAR.ACCORD_15: [{
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
+  CAR.ACCORDH: [{
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+  }],
   CAR.ACURA_ILX: [{
     57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
   }],
@@ -98,10 +98,10 @@ class CAR:
   }]
 }
 
-
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
   CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
+  CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
   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'),
@@ -114,10 +114,10 @@ class CAR:
   CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
 }
 
-
 STEER_THRESHOLD = {
   CAR.ACCORD: 1200,
   CAR.ACCORD_15: 1200,
+  CAR.ACCORDH: 1200,
   CAR.ACURA_ILX: 1200,
   CAR.ACURA_RDX: 400,
   CAR.CIVIC: 1200,
@@ -133,6 +133,7 @@ class CAR:
 SPEED_FACTOR = {
   CAR.ACCORD: 1.,
   CAR.ACCORD_15: 1.,
+  CAR.ACCORDH: 1.,
   CAR.ACURA_ILX: 1.,
   CAR.ACURA_RDX: 1.,
   CAR.CIVIC: 1.,
@@ -159,4 +160,4 @@ class CAR:
 }
 
 # TODO: get these from dbc file
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
+HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]