Openpilot: 2017 Honda CR-V with Sensing

[energee]

I wanted to get some conversation started on this car.

The 2017 has blind spot detection which could be a useful for lane changing in the future. Plus there isn't an SUV option yet for openpilot.

Checked things out over the CAN. Most of the ID's match up with the Civic ID's in fingerprint.py.

Didn't see the 0x405 ID for open doors coming through cansniffer. This message is sent when a door is open?

The "USER_BRAKE" id matches up, but didn't see anything for "BRAKE_PRESSED" on 0x17c, is this sent when brake is being pressed by ACC?

Going to check messaging out with ACC and LKAS on tomorrow. What signals should I be looking for?

[geohot]

I believe the brake is the same but steering changed. I looked into the steering on this car, it was almost the same packet, just one less padding byte and different id.

This is probably the easiest car to port to.

[energee]

The CR-V doesn't use the same JAE Connector for the LKAS Camera as the civic, its a 12 pin, picture attached.

[geohot]

Oh, you'll find the pinouts with a subscription to techinfo.honda.com, should be the same stuff.

[energee]

Cool, image attached. Looks like the important things.

[geohot]

Hmm, seems to lack an always on power rail. But otherwise, it's the same 2 CANs.

[djjohnny1093]

Guys, any shot of me being able to get this to work on my 2017 honda crv touring. I gotta drive to florida mid april, i have minimal programming knowledge. Can anyone create a beginning to end manual with workarounds and instructions that need to be done for the crv touring? Because its not plug and play like it is with the civic? If someone can help me ill make a youtube video. There is literally nothing on youtube. Maybe im looking for the wrong thing? Sorry if i sound stupid, i wanna help but dont know how.

[geohot]

Interesting. The 2016 CR-V Touring matches the Civic with connector. It changed only on the 2017.

[djjohnny1093]

I live in new york...anybody over here know how to do this stuff and wanna tinker with my car so we can figure this out?

[djjohnny1093]

So @energee, your working on this currently? Are you developing the technique for us crv owners and then we will just follow your lead? If so thats amazing and extremely appreciated. Thankyou.

[energee]

Noticed something different about the way the CR-V sends messaging vs the Civic. When the camera is unplugged, the only message that stops is 35E. When the radar is unplugged, 0xE4, 0x1DF, 0x1EF, 0x30C, 0x33D, and 0x39F stop sending.

[geohot]

How did you unplug the radar?

[geohot]

And ugh yea, the CR-V radar is connected to F-CAN. It's not on the Civic. That's annoying.

Easiest way to get openpilot working is to unplug the radar and install a separate external radar.

[geohot]

And the 2016 CR-V isn't like this. 2016 CR-V should be easy, looks like the Civic.

[TheMutley]

Or a CAN gateway and keep the existing radar as I suggested to energee. Did you had a chance to look at the CAN deciphering I sent you?

[energee]

Civic radar or are there better options?

[geohot]

Looked a bit, and I trust your analysis. What CAN program is that btw? I want to effectively rewrite that in javascript.

The Delphi ESR2.5 is nicer (64 tracks, 90 degree field of view), you can find them on eBay for a couple hundred bucks, and the full DBC file is available online. We have some code to work with that radar we can include in 0.3 if you end up getting it. radard was already written with it in mind.

The problem with a gateway is I still don't see that radar sending normal radar msgs. Does it send like positions of cars and stuff, or does it do all that computation internally?

[geohot]

It's the Jaguar Land Rover radar iirc.

[energee]

XXXX-9G768-AD == Delphi ESR 2.5

BH32-9G768-AD BE9T-9G768-AC

[energee]

Can the radar operate through a plastic bumper / grill?

[geohot]

Yes

[LuckyParker]

Do you think that once you get the crv working the hatchback might work
with some slight tweaking?

On May 3, 2017 20:37, "Ted Slesinski" [e-mail] wrote:

btw @geohot https://github.com/geohot, the radar in the 17 CR-V and
Civic Hatchback is the Bosch MRR.

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[energee]

yes

[energee]

@geohot can you upstream the delphi code, i have one.

[vaxheadroom]

I'm new to this, but just wanted to point out the Bosch Motorsport CAS-M system incorporates the Bosch MRR radar (which is reported above to be on the '17 CR-V) and that manuals and the DBC file for this system are available under the "Documents" folder at http://www.bosch-motorsport.de/content/downloads/Products/18180530315.html#

[energee]

@vaxheadroom This is a nice find, but the dbc doesn't match the honda firmware.

[leo333]

Radar connect to bord, There is no need honda firmware for support.

[shaitand]

So any updates?

[energee]

Lateral Control works great, needs a radar for longitudinal control.

In the future, openpilot won't require radar, but until then, adding a radar or using stock radar are the only options.

[haimiko]

No radar with panda?

On Wed, Sep 20, 2017, 4:13 PM Ted Slesinski [e-mail]
wrote:

Lateral Control works great, needs a radar for longitudinal control

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[energee]

Progress: https://www.youtube.com/watch?v=eMk4LNwiXro

[haimiko]

Using Neo or Panda? Just got my panda in the mail today, hoping to start working on mine. More info appreciated.

[shaitand]

So just to confirm. Using Neo or Panda? Using re-wired connector? Using Delphi ESR 2.5 Radar? Is this just using current release or do we need certain patches, etc?

If using external radar, any radar ending in this model (9G768-AD) that we can find will be legit? What about the -AE and -AB? This adds quite a bit to the price, a couple hundred was mentioned but $300-$500 seems more common. If the -AE works you can buy them all day long https://www.aliexpress.com/promotion/promotion_adaptive-cruise-promotion.html

For the -AD it looks like 3 or 4 of us might get a better deal off E-Bay.

[energee]

This is using the stock radar, a NEO and a panda, I might be able to eliminate the panda but you would definitely lose automatic lights/highbeams unless comma adds detection for them.

[haimiko]

Is the NEO really necessary? Can it not be done with Openpilot and Panda
only?

On Wed, Oct 4, 2017 at 9:55 PM, Ted Slesinski [e-mail]
wrote:

This is using the stock radar, a NEO and a panda, I might be able to
eliminate the panda but you would definitely lose automatic
lights/highbeams unless comma adds detection for them.

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[energee]

yes, actually, just one panda will work when this is fully complete, requires more code for message forwarding

[haimiko]

What connector did you use for the Neo to the CRV? I read that the
connector isn't like the civic. Could you please point me to the wiring
diagram for the connector?

On Thu, Oct 5, 2017 at 9:15 PM, Ted Slesinski [e-mail]
wrote:

yes, actually, just one panda will work when this is fully complete,
requires more code for message forwarding

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[energee]

Pinout is from techinfo.honda.com and is in comment 5. You have to make your own until someone comes up with a better solution :/

[shaitand]

@Ted Slesinski

Thanks again for all the great work you've done. Crimping pins and making a
connector doesn't seem that insurmountable. What are the actual connectors
involved if someone wanted to do so?

On Mon, Oct 9, 2017 at 8:49 PM, Ted Slesinski [e-mail]
wrote:

Pinout is from techinfo.honda.com and is in comment 5. You have to make
your own until someone comes up with a better solution :/

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[KUASWoodyLIN]

Is it possible to have the giraffe product support crv2017 in the future?

[energee]

@csouers working on a prototype:

[stealthcrv]

Hey guys new here, I have a 2017 CRV EX-L w/Honda Sensing. How much progress has been made so far? Will be willing to help out testing if it’s ready to

[csouers]

@energee has panda doing all forwarding now. At time of writing, it's only been a day or so since we've had that. Works here on my 2017 Civic Hatchback as well. We had V1 of our custom giraffe made and it's being tested. We're working on V2 of the board that will solve some issues that we have in V1.

[kjake]

I have a 2017 CR-V AWD Touring - would be happy to pitch in with some testing once the giraffe is finalized (if there's even anything left to do at that point).

[willitblend]

Any news on the radar?

Early in the thread it seemed like the radar for 2017 crv can't be read?

I see pins for radar on the diagram of the giraffe have you figured out the radar outputs?

[johnwaynehacker]

what is the connector part number that fit for the camera?

[shaitand]

I'm an electronics friendly guy with a 2017 CRV. I have no problem buying neos, pandas, giraffes, or any other zoo animal needed whatever those things are or if given design files, components, etc having prototype board(s) made and assembling. I'm happy to buy any cables needed and/or given the connector part numbers, make them to get it going.

That said, I know nothing about this project and have spent no time hacking on cars whatsoever. Having read and followed this thread it sounds like this is working for energee and csouers and more or less is done. Which is amazing!

There just isn't enough information in this thread for a guy like me to get set up and running. If you guys get a chance and would be willing to take a moment to put it all together, it would be greatly appreciated.

[haimiko]

I'm in the same boat. I'm a maker and developer by trade but am in need of
assistance getting started. I already have a OP3 & Panda but need help
setting up a development environment to be able to start working on CRV
openpilot support.

On Thu, Dec 7, 2017 at 8:57 AM, shaitand [e-mail] wrote:

I'm an electronics friendly guy with a 2017 CRV. I have no problem buying
neos, pandas, giraffes, or any other zoo animal needed whatever those
things are or if given design files, components, etc having prototype
board(s) made and assembling. I'm happy to buy any cables needed and/or
given the connector part numbers, make them to get it going.

That said, I know nothing about this project and have spent no time
hacking on cars whatsoever. Having read and followed this thread it sounds
like this is working for energee and csouers and more or less is done.
Which is amazing!

There just isn't enough information in this thread for a guy like me to
get set up and running. If you guys get a chance and would be willing to
take a moment to put it all together, it would be greatly appreciated.

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[gregjhogan]

PR #175 !

[energee]

Closing this issue, see #175