527 lines
18 KiB
C
527 lines
18 KiB
C
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,
|
|
|
|
.max_gas = 2000,
|
|
.inactive_gas = -30000,
|
|
};
|
|
|
|
const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS_SPORT = {
|
|
.max_accel = 400, // accel is used for brakes
|
|
.min_accel = -350,
|
|
|
|
.max_gas = 2000,
|
|
.inactive_gas = -30000,
|
|
};
|
|
|
|
const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
|
|
.max_gas = 198, // 0xc6
|
|
.max_brake = 255,
|
|
|
|
.inactive_speed = 0,
|
|
};
|
|
|
|
// All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
|
|
#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
|
|
{.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \
|
|
{0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \
|
|
{.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \
|
|
{.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \
|
|
|
|
#define HONDA_COMMON_RX_CHECKS(pt_bus) \
|
|
HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \
|
|
{.msg = {{0x326, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \
|
|
|
|
// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
|
|
#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \
|
|
{.msg = {{0x1BE, (pt_bus), 3, .check_checksum = true, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \
|
|
|
|
|
|
// Nidec and bosch radarless has the powertrain bus on bus 0
|
|
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)
|
|
};
|
|
|
|
// For Nidecs with main on signal on an alternate msg (missing 0x326)
|
|
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)
|
|
};
|
|
|
|
RxCheck honda_bosch_alt_brake_rx_checks[] = {
|
|
HONDA_COMMON_RX_CHECKS(1)
|
|
HONDA_ALT_BRAKE_ADDR_CHECK(1)
|
|
};
|
|
|
|
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;
|
|
const uint16_t HONDA_PARAM_CLARITY = 32;
|
|
|
|
enum {
|
|
HONDA_BTN_NONE = 0,
|
|
HONDA_BTN_MAIN = 1,
|
|
HONDA_BTN_CANCEL = 2,
|
|
HONDA_BTN_SET = 3,
|
|
HONDA_BTN_RESUME = 4,
|
|
};
|
|
|
|
int honda_brake = 0;
|
|
bool honda_brake_switch_prev = false;
|
|
bool honda_alt_brake_msg = false;
|
|
bool honda_fwd_brake = false;
|
|
bool honda_bosch_long = false;
|
|
bool honda_bosch_radarless = false;
|
|
bool honda_clarity_brake_msg = false;
|
|
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
|
|
|
|
|
|
int honda_get_pt_bus(void) {
|
|
return ((honda_hw == HONDA_BOSCH) && !honda_bosch_radarless) ? 1 : 0;
|
|
}
|
|
|
|
static uint32_t honda_get_checksum(const CANPacket_t *to_push) {
|
|
int checksum_byte = GET_LEN(to_push) - 1U;
|
|
return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
|
|
}
|
|
|
|
static uint32_t honda_compute_checksum(const CANPacket_t *to_push) {
|
|
int len = GET_LEN(to_push);
|
|
uint8_t checksum = 0U;
|
|
unsigned int addr = GET_ADDR(to_push);
|
|
while (addr > 0U) {
|
|
checksum += (uint8_t)(addr & 0xFU); addr >>= 4;
|
|
}
|
|
for (int j = 0; j < len; j++) {
|
|
uint8_t byte = GET_BYTE(to_push, j);
|
|
checksum += (uint8_t)(byte & 0xFU) + (byte >> 4U);
|
|
if (j == (len - 1)) {
|
|
checksum -= (byte & 0xFU); // remove checksum in message
|
|
}
|
|
}
|
|
return (uint8_t)((8U - checksum) & 0xFU);
|
|
}
|
|
|
|
static uint8_t honda_get_counter(const CANPacket_t *to_push) {
|
|
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) && !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
|
|
if (addr == 0x158) {
|
|
// first 2 bytes
|
|
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
|
}
|
|
|
|
// check ACC main state
|
|
// 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
|
|
if ((addr == 0x326) || (addr == 0x1A6)) {
|
|
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
|
|
if (!acc_main_on) {
|
|
controls_allowed = false;
|
|
}
|
|
}
|
|
|
|
// enter controls when PCM enters cruise state
|
|
if (pcm_cruise && (addr == 0x17C)) {
|
|
const bool cruise_engaged = GET_BIT(to_push, 38U);
|
|
// engage on rising edge
|
|
if (cruise_engaged && !cruise_engaged_prev) {
|
|
controls_allowed = true;
|
|
}
|
|
|
|
// Since some Nidec cars can brake down to 0 after the PCM disengages,
|
|
// we don't disengage when the PCM does.
|
|
if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
|
|
controls_allowed = false;
|
|
}
|
|
cruise_engaged_prev = cruise_engaged;
|
|
}
|
|
|
|
// state machine to enter and exit controls for button enabling
|
|
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
|
if (((addr == 0x1A6) || (addr == 0x296)) && (bus == pt_bus)) {
|
|
int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
|
|
|
|
// enter controls on the falling edge of set or resume
|
|
bool set = (button != HONDA_BTN_SET) && (cruise_button_prev == HONDA_BTN_SET);
|
|
bool res = (button != HONDA_BTN_RESUME) && (cruise_button_prev == HONDA_BTN_RESUME);
|
|
if (acc_main_on && !pcm_cruise && (set || res)) {
|
|
controls_allowed = true;
|
|
}
|
|
|
|
// exit controls once main or cancel are pressed
|
|
if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) {
|
|
controls_allowed = false;
|
|
}
|
|
cruise_button_prev = button;
|
|
}
|
|
|
|
// user brake signal on 0x17C reports applied brake from computer brake on accord
|
|
// and crv, which prevents the usual brake safety from working correctly. these
|
|
// cars have a signal on 0x1BE which only detects user's brake being applied so
|
|
// in these cases, this is used instead.
|
|
// most hondas: 0x17C
|
|
// accord, crv: 0x1BE
|
|
if (honda_alt_brake_msg) {
|
|
if (addr == 0x1BE) {
|
|
brake_pressed = GET_BIT(to_push, 4U);
|
|
}
|
|
} else {
|
|
if (addr == 0x17C) {
|
|
// also if brake switch is 1 for two CAN frames, as brake pressed is delayed
|
|
const bool brake_switch = GET_BIT(to_push, 32U);
|
|
brake_pressed = (GET_BIT(to_push, 53U)) || (brake_switch && honda_brake_switch_prev);
|
|
honda_brake_switch_prev = brake_switch;
|
|
}
|
|
}
|
|
|
|
// 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
|
|
if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
|
|
if ((bus == 2) && (addr == 0x1FA)) {
|
|
bool honda_stock_aeb = GET_BIT(to_push, 29U);
|
|
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
|
|
|
|
if (honda_clarity_brake_msg) {
|
|
honda_stock_brake = (GET_BYTE(to_push, 6) << 2) + ((GET_BYTE(to_push, 7) >> 6) & 0x3U);
|
|
}
|
|
// Forward AEB when stock braking is higher than openpilot braking
|
|
// only stop forwarding when AEB event is over
|
|
if (!honda_stock_aeb) {
|
|
honda_fwd_brake = false;
|
|
} else if (honda_stock_brake >= honda_brake) {
|
|
honda_fwd_brake = true;
|
|
} else {
|
|
// Leave Honda forward brake as is
|
|
}
|
|
}
|
|
}
|
|
|
|
int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
|
|
bool stock_ecu_detected = false;
|
|
|
|
// If steering controls messages are received on the destination bus, it's an indication
|
|
// that the relay might be malfunctioning
|
|
if ((addr == 0xE4) || (addr == 0x194)) {
|
|
if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) {
|
|
stock_ecu_detected = true;
|
|
}
|
|
}
|
|
// If Honda Bosch longitudinal mode is selected we need to ensure the radar is turned off
|
|
// Verify this by ensuring ACC_CONTROL (0x1DF) is not received on the PT bus
|
|
if (honda_bosch_long && !honda_bosch_radarless && (bus == pt_bus) && (addr == 0x1DF)) {
|
|
stock_ecu_detected = true;
|
|
}
|
|
|
|
generic_rx_checks(stock_ecu_detected);
|
|
|
|
}
|
|
|
|
static bool honda_tx_hook(const CANPacket_t *to_send) {
|
|
sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
|
|
|
|
bool tx = true;
|
|
int addr = GET_ADDR(to_send);
|
|
int bus = GET_BUS(to_send);
|
|
|
|
int bus_pt = honda_get_pt_bus();
|
|
int bus_buttons = (honda_bosch_radarless) ? 2 : bus_pt; // the camera controls ACC on radarless Bosch cars
|
|
|
|
// ACC_HUD: safety check (nidec w/o pedal)
|
|
if ((addr == 0x30C) && (bus == bus_pt)) {
|
|
int pcm_speed = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
|
|
int pcm_gas = GET_BYTE(to_send, 2);
|
|
|
|
bool violation = false;
|
|
violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS);
|
|
violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS);
|
|
if (violation) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// BRAKE: safety check (nidec)
|
|
if ((addr == 0x1FA) && (bus == bus_pt)) {
|
|
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
|
|
if (honda_clarity_brake_msg) {
|
|
honda_brake = (GET_BYTE(to_send, 6) << 2) + ((GET_BYTE(to_send, 7) >> 6) & 0x3U);
|
|
}
|
|
if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
|
|
tx = false;
|
|
}
|
|
if (honda_fwd_brake) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// BRAKE/GAS: safety check (bosch)
|
|
if ((addr == 0x1DF) && (bus == bus_pt)) {
|
|
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U);
|
|
accel = to_signed(accel, 11);
|
|
|
|
int gas = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
|
|
gas = to_signed(gas, 16);
|
|
|
|
bool violation = false;
|
|
if (sport_mode) {
|
|
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
|
|
violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS_SPORT);
|
|
} else {
|
|
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
|
|
violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
|
|
}
|
|
if (violation) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// ACCEL: safety check (radarless)
|
|
if ((addr == 0x1C8) && (bus == bus_pt)) {
|
|
int accel = (GET_BYTE(to_send, 0) << 4) | (GET_BYTE(to_send, 1) >> 4);
|
|
accel = to_signed(accel, 12);
|
|
|
|
bool violation = false;
|
|
if (sport_mode) {
|
|
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT);
|
|
} else {
|
|
violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
|
|
}
|
|
if (violation) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// STEER: safety check
|
|
if ((addr == 0xE4) || (addr == 0x194)) {
|
|
bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS);
|
|
if (!(controls_allowed || aol_allowed)) {
|
|
bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
|
|
if (steer_applied) {
|
|
tx = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Bosch supplemental control check
|
|
if (addr == 0xE5) {
|
|
if ((GET_BYTES(to_send, 0, 4) != 0x10800004U) || ((GET_BYTES(to_send, 4, 4) & 0x00FFFFFFU) != 0x0U)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// 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
|
|
if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
|
|
if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
|
if (addr == 0x18DAB0F1) {
|
|
if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
|
|
tx = false;
|
|
}
|
|
}
|
|
|
|
return tx;
|
|
}
|
|
|
|
static safety_config honda_nidec_init(uint16_t param) {
|
|
honda_hw = HONDA_NIDEC;
|
|
honda_brake = 0;
|
|
honda_brake_switch_prev = false;
|
|
honda_fwd_brake = false;
|
|
honda_alt_brake_msg = false;
|
|
honda_bosch_long = false;
|
|
honda_bosch_radarless = false;
|
|
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
|
|
honda_clarity_brake_msg = GET_FLAG(param, HONDA_PARAM_CLARITY);
|
|
|
|
safety_config ret;
|
|
|
|
bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
|
|
if (enable_nidec_alt) {
|
|
enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \
|
|
SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret);
|
|
} else {
|
|
enable_gas_interceptor ? SET_RX_CHECKS(honda_common_interceptor_rx_checks, ret) : \
|
|
SET_RX_CHECKS(honda_common_rx_checks, 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;
|
|
}
|
|
|
|
static safety_config honda_bosch_init(uint16_t param) {
|
|
honda_hw = HONDA_BOSCH;
|
|
honda_brake_switch_prev = false;
|
|
honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
|
|
// Checking for alternate brake override from safety parameter
|
|
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
|
|
|
// radar disabled so allow gas/brakes
|
|
#ifdef ALLOW_DEBUG
|
|
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
|
|
#endif
|
|
|
|
safety_config ret;
|
|
if (honda_bosch_radarless && honda_alt_brake_msg) {
|
|
SET_RX_CHECKS(honda_common_alt_brake_rx_checks, ret);
|
|
} else if (honda_bosch_radarless) {
|
|
SET_RX_CHECKS(honda_common_rx_checks, ret);
|
|
} else if (honda_alt_brake_msg) {
|
|
SET_RX_CHECKS(honda_bosch_alt_brake_rx_checks, ret);
|
|
} else {
|
|
SET_RX_CHECKS(honda_bosch_rx_checks, ret);
|
|
}
|
|
|
|
if (honda_bosch_radarless) {
|
|
honda_bosch_long ? SET_TX_MSGS(HONDA_RADARLESS_LONG_TX_MSGS, ret) : \
|
|
SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret);
|
|
} else {
|
|
honda_bosch_long ? SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret) : \
|
|
SET_TX_MSGS(HONDA_BOSCH_TX_MSGS, ret);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
static int honda_nidec_fwd_hook(int bus_num, int addr) {
|
|
// fwd from car to camera. also fwd certain msgs from camera to car
|
|
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
|
|
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
|
|
int bus_fwd = -1;
|
|
|
|
if (bus_num == 0) {
|
|
bus_fwd = 2;
|
|
}
|
|
|
|
if (bus_num == 2) {
|
|
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
|
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
|
bool is_acc_hud_msg = addr == 0x30C;
|
|
bool is_brake_msg = addr == 0x1FA;
|
|
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
|
|
if (!block_fwd) {
|
|
bus_fwd = 0;
|
|
}
|
|
}
|
|
|
|
return bus_fwd;
|
|
}
|
|
|
|
static int honda_bosch_fwd_hook(int bus_num, int addr) {
|
|
int bus_fwd = -1;
|
|
|
|
if (bus_num == 0) {
|
|
bus_fwd = 2;
|
|
}
|
|
if (bus_num == 2) {
|
|
bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
|
|
bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
|
|
bool block_msg = is_lkas_msg || is_acc_msg;
|
|
if (!block_msg) {
|
|
bus_fwd = 0;
|
|
}
|
|
}
|
|
|
|
return bus_fwd;
|
|
}
|
|
|
|
const safety_hooks honda_nidec_hooks = {
|
|
.init = honda_nidec_init,
|
|
.rx = honda_rx_hook,
|
|
.tx = honda_tx_hook,
|
|
.fwd = honda_nidec_fwd_hook,
|
|
.get_counter = honda_get_counter,
|
|
.get_checksum = honda_get_checksum,
|
|
.compute_checksum = honda_compute_checksum,
|
|
};
|
|
|
|
const safety_hooks honda_bosch_hooks = {
|
|
.init = honda_bosch_init,
|
|
.rx = honda_rx_hook,
|
|
.tx = honda_tx_hook,
|
|
.fwd = honda_bosch_fwd_hook,
|
|
.get_counter = honda_get_counter,
|
|
.get_checksum = honda_get_checksum,
|
|
.compute_checksum = honda_compute_checksum,
|
|
};
|