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Honda: pedal support #2004

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Honda: pedal support #2004

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6 changes: 6 additions & 0 deletions board/safety.h
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Original file line number Diff line number Diff line change
Expand Up @@ -327,6 +327,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
// reset state set by safety mode
safety_mode_cnt = 0U;
relay_malfunction = false;
enable_gas_interceptor = false;
gas_interceptor_prev = 0;
gas_pressed = false;
gas_pressed_prev = false;
brake_pressed = false;
Expand Down Expand Up @@ -541,6 +543,10 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
return violation;
}

bool longitudinal_interceptor_checks(const CANPacket_t *to_send) {
return !get_longitudinal_allowed() && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
}

// Safety checks for torque-based steering commands
bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits) {
bool violation = false;
Expand Down
69 changes: 60 additions & 9 deletions board/safety/safety_honda.h
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Original file line number Diff line number Diff line change
@@ -1,9 +1,16 @@
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_N_INTERCEPTOR_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
const CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}}; // Bosch radarless
const CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}}; // Bosch radarless w/ gas and brakes

// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
// Threshold calculated from DBC gains: round(((83.3 / 0.253984064) + (83.3 / 0.126992032)) / 2) = 492
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 492;
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks

const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
.max_accel = 200, // accel is used for brakes
.min_accel = -350,
Expand Down Expand Up @@ -40,6 +47,11 @@ RxCheck honda_common_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
};

RxCheck honda_common_interceptor_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

RxCheck honda_common_alt_brake_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(0)
HONDA_ALT_BRAKE_ADDR_CHECK(0)
Expand All @@ -50,6 +62,11 @@ RxCheck honda_nidec_alt_rx_checks[] = {
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
};

RxCheck honda_nidec_alt_interceptor_rx_checks[] = {
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
{.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
};

// Bosch has pt on bus 1, verified 0x1A6 does not exist
RxCheck honda_bosch_rx_checks[] = {
HONDA_COMMON_RX_CHECKS(1)
Expand All @@ -64,6 +81,7 @@ const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
const uint16_t HONDA_PARAM_RADARLESS = 8;
const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16;

enum {
HONDA_BTN_NONE = 0,
Expand Down Expand Up @@ -110,15 +128,26 @@ static uint32_t honda_compute_checksum(const CANPacket_t *to_push) {
}

static uint8_t honda_get_counter(const CANPacket_t *to_push) {
int counter_byte = GET_LEN(to_push) - 1U;
return (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U;
int addr = GET_ADDR(to_push);

uint8_t cnt = 0U;
if (addr == 0x201) {
// Signal: COUNTER_PEDAL
cnt = GET_BYTE(to_push, 4) & 0x0FU;
} else {
int counter_byte = GET_LEN(to_push) - 1U;
cnt = (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U;
}
return cnt;
}

static void honda_rx_hook(const CANPacket_t *to_push) {
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || (honda_hw == HONDA_NIDEC);
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || \
((honda_hw == HONDA_NIDEC) && !enable_gas_interceptor);
int pt_bus = honda_get_pt_bus();

int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
int bus = GET_BUS(to_push);

// sample speed
Expand Down Expand Up @@ -190,8 +219,17 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
}
}

if (addr == 0x17C) {
gas_pressed = GET_BYTE(to_push, 0) != 0U;
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if ((addr == 0x201) && (len == 6) && enable_gas_interceptor) {
int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push);
gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD;
gas_interceptor_prev = gas_interceptor;
}

if (!enable_gas_interceptor) {
if (addr == 0x17C) {
gas_pressed = GET_BYTE(to_push, 0) != 0U;
}
}

// disable stock Honda AEB in alternative experience
Expand Down Expand Up @@ -309,6 +347,13 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
}
}

// GAS: safety check (interceptor)
if (addr == 0x200) {
if (longitudinal_interceptor_checks(to_send)) {
tx = false;
}
}

// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
// This avoids unintended engagements while still allowing resume spam
Expand Down Expand Up @@ -336,18 +381,24 @@ static safety_config honda_nidec_init(uint16_t param) {
honda_alt_brake_msg = false;
honda_bosch_long = false;
honda_bosch_radarless = false;
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);

safety_config ret;

bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);

if (enable_nidec_alt) {
SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \
SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
} else {
SET_RX_CHECKS(honda_common_rx_checks, ret);
enable_gas_interceptor ? SET_RX_CHECKS(honda_common_interceptor_rx_checks, ret) : \
SET_RX_CHECKS(honda_common_rx_checks, ret);
}
SET_TX_MSGS(HONDA_N_TX_MSGS, ret);

if (enable_gas_interceptor) {
SET_TX_MSGS(HONDA_N_INTERCEPTOR_TX_MSGS, ret);
} else {
SET_TX_MSGS(HONDA_N_TX_MSGS, ret);
}
return ret;
}

Expand Down
3 changes: 3 additions & 0 deletions board/safety_declarations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -203,13 +203,16 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits);
bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits);
bool longitudinal_interceptor_checks(const CANPacket_t *to_send);
void pcm_cruise_check(bool cruise_engaged);

void safety_tick(const safety_config *safety_config);

// This can be set by the safety hooks
bool controls_allowed = false;
bool relay_malfunction = false;
bool enable_gas_interceptor = false;
int gas_interceptor_prev = 0;
bool gas_pressed = false;
bool gas_pressed_prev = false;
bool brake_pressed = false;
Expand Down
1 change: 1 addition & 0 deletions python/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,7 @@ class Panda:
FLAG_HONDA_BOSCH_LONG = 2
FLAG_HONDA_NIDEC_ALT = 4
FLAG_HONDA_RADARLESS = 8
FLAG_HONDA_GAS_INTERCEPTOR = 16

FLAG_HYUNDAI_EV_GAS = 1
FLAG_HYUNDAI_HYBRID_GAS = 2
Expand Down
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