2015-2016 CR-V Touring

[energee]

Working on this with @johnnwvs Fingerprint of the car here:

0.199962   91  80 64 48 01 FF 00 00 01 .dH.....
0.199961  13C  02 23 00 47 00 40 04 0E .#.G.@..
0.199989  154  12 00 00 FE A6 A9 00 0B ........
0.199972  156  00 BD 00 00 07 1C       ......
0.199833  158  00 00 00 00 00 00 00 0A ........
0.199940  17C  00 00 00 00 00 00 00 04 ........
0.199934  18E  00 00 6B                ..k
0.199988  18F  00 00 00 00 06 28       .....(
0.200010  191  01 00 00 A9 A9 01 01 04 ........
0.199953  194  00 00 00 0A             ....
0.199960  1A4  00 66 00 00 00 00 00 0D .f......
0.200104  1A6  00 08 C0 52 52 80 00 2B ...RR..+
0.199917  1AA  7F FF 00 00 00 00 00 0F ........
0.199971  1B0  00 00 00 00 00 01 0B    .......
0.000000  1D0  00 00 00 00 00 00 00 0A ........
0.199978  1DA  FF 7F FF 00 1D          .....
0.199980  1DC  42 00 00 35             B..5
0.200092  1E7  19 80 66 04             ..f.
0.199857  1EA  00 00 00 00 00 00 00 0F ........
0.200033  1ED  01 FF 3A                ..:
0.199924  1FA  00 00 00 80 00 00 00 15 ........
0.199954  1FB  0D                      .
0.200072  21E  00 00 3D 47 60 04 3F    ..=G`.?
0.200168  221  35 00 80 30             5..0
0.199989  255  00 00 00 00 55 55 7A DC ....UUz.
0.200008  294  04 16 00 00 A4 06 40 33 ......@3
0.200008  295  00 00 00 35             ...5
0.200046  305  80 54 00 00 00 00 1E    .T.....
0.199988  309  00 00 00 00 00 00 00 EE ........
0.199880  30C  00 00 8C FF 10 40 40 3B .....@@;
0.199814  320  00 00 00 00 00 00 00 30 .......0
0.199972  324  62 59 00 00 00 00 0E B0 bY......
0.199957  328  00 00 00 00 00 00 40 61 ......@a
0.199877  33D  00 00 00 40 3E          ...@>
0.200148  372  00 2A                   .*
0.199893  374  47 60 00 0B 00 00 2C    G`....,
0.199983  378  0F D2 04 19 25 87 FF 60 ....%..`
0.200002  37B  00 00 00 00 00 00 00 21 .......!
0.199991  37C  F6 00 00 FA 00 00 01 30 .......0
0.198222  39B  00 10                   ..
0.200080  3A1  40 00 00 00 00 00 00 15 @.......
0.199942  3D7  B0 00 00 00 00 00 00 33 .......3
0.199980  3D9  00 80 07                ...
0.300145  400  00 00 02 00 20          .... 
0.300247  403  00 00 00 00 2F          ..../
0.298651  405  00 00 00 00 00 00 00 0F ........
0.299780  409  00 00 00 01 28          ....(
0.300144  40C  09 00 00 00 00 00 00 2D .......-
0.300148  40F  01 0E 15 01 07 04 00 22 ......."
0.299944  421  00 00 01 01 2D          ....-
0.299292  428  06 00 00 00 A4 06 00    .......
0.300348  454  36 F9 02 29 30 00 80 20 6..)0.. 
0.300162  465  00 00 00 00 00 00 01 26 .......&
0.500637  510  00 00 00 00 00 00 00 11 ........
0.505430  555  00 00 00 00 27          ....'
1.000053  590  00 00 00 04 06          .....
1.000064  640  00 00 00 06 08          .....
1.000037  641  15 00 00 00 00 00 00 07 ........```

[energee]

The obvious signals i don't see are:

"car_gas", "cruise_buttons", "main_on", "cruise_setting", "steer_torque", "steer_torque_request", and "gas_command"

[geohot]

Does he have a NEO? Connect it up to log can. I know steer torque request moved.

[energee]

Not yet

[johnwaynehacker]

I have a NEOS, what portion of FCAN can I update to refine the id, byte and bit of the exact steering, braking, gas, etc.., what portion in the C/Python I can modified for different vehicle? What open source software do you guy use to make dbc file? other than Vector tool? I have a neos but need to update for different vehicle.

[energee]

Just run the NEO and upload your can data to drive explorer

[dongdongchushuo]

Anyone working on porting 2016 CRV?

@energee @geohot , could you tell me how to create the dbcs file based on the sniffed information? How to read the sniffed information?

Thanks,
liangpi

[energee]

Steering looks like 194. Only messages that stop sending (at the OBDII port) when cam is unplugged are:

194
1FA
30C
33D

[geohot]

The set speed is on 30C, same as the ilx and civic. This controls gas.

So looks like the only change is E4 -> 194

[geohot]

And we made the dbc files using a text editor :)

[johnwaynehacker]

so I need to change E4-->194 in the dbc file and rename as 15/16 crv touring ? Do I need change the python code "hondacan.py"? You mention drive explorer, the drive explorer on neos phone platform? How can change the control to add learning different drive? Ai Drive change learning? If I can modify to code to allow cruise to below 25mph, then will your system work for city driving? Steering I might not able to change.

[johnwaynehacker]

I mention modified the vehicle code to allow cruise control under 25mph

[geohot]

It's more than that. The message content is different as well.

There's no easy way to modify for the higher torques and low speeds required for city driving. And whenever you make modifications, always make sure you are following the safety guidelines in https://github.com/commaai/openpilot/blob/master/SAFETY.md

[johnwaynehacker]

in the hondacan.py where does it distinguish for which dbc file.
194 message alive and counter checksum change.
the lsb steering factor change.
where do I change that? in here?

how can I change the lsb, and where is the pointer to point to certain dbc file in this command line?
"
def create_steering_control(apply_steer, idx):
"""Creates a CAN message for the Honda DBC STEERING_CONTROL."""
msg = struct.pack("!h", apply_steer) + ("\x80\x00" if apply_steer != 0 else "\x00\x00")
return make_can_msg(0xe4, msg, idx, 0)
"

[johnwaynehacker]

Oh, it look like the steering command factor is 1 for 0E4 is ilx? can I change it to more precise lsb factor? and the range is off.

how does the following command relate to 0E4? Some value is just 0 or 1, how come range is 127?
BO_ 228 STEERING_CONTROL: 5 ADAS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS