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Merge pull request #92 from loveloveses/0.8.5

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enableBsm for CRV HYBRID
This commit is contained in:
eFini
2021-08-17 18:12:36 +08:00
committed by GitHub
parent 2185eb440f 76c77a1fb9
commit 16a8e69382
3 changed files with 4 additions and 4 deletions
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4
selfdrive/car/honda/carstate.py
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@@ -385,7 +385,7 @@ class CarState(CarStateBase):
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
@@ -425,7 +425,7 @@ class CarState(CarStateBase):
@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)]

2
selfdrive/car/honda/interface.py
View File

@@ -134,7 +134,7 @@ class CarInterface(CarInterfaceBase):
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

2
selfdrive/car/honda/values.py
View File

@@ -1245,7 +1245,7 @@ DBC = {
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'),