Honda: Nidec COMPUTER_BRAKE_ALT safety

board/safety/safety_honda.h

@@ -82,6 +82,7 @@ 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_NIDEC_ALT_BRAKE = 32;
 
 enum {
   HONDA_BTN_NONE = 0,
@@ -97,6 +98,7 @@ bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
 bool honda_bosch_long = false;
 bool honda_bosch_radarless = false;
+bool honda_nidec_alt_brake_msg = false;
 enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
 
 
@@ -236,6 +238,9 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
     if ((bus == 2) && (addr == 0x1FA)) {
       bool honda_stock_aeb = GET_BIT(to_push, 29U) != 0U;
       int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
+      if (honda_nidec_alt_brake_msg) {
+        honda_stock_brake = (GET_BYTE(to_push, 6) << 2) | (GET_BYTE(to_push, 7) >> 6);
+      }
 
       // Forward AEB when stock braking is higher than openpilot braking
       // only stop forwarding when AEB event is over
@@ -293,6 +298,9 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
   // 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_nidec_alt_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;
     }
@@ -381,6 +389,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   honda_bosch_long = false;
   honda_bosch_radarless = false;
   enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
+  honda_nidec_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT_BRAKE);
 
   safety_config ret;
 

python/__init__.py

@@ -204,6 +204,7 @@ class Panda:
   FLAG_HONDA_NIDEC_ALT = 4
   FLAG_HONDA_RADARLESS = 8
   FLAG_HONDA_GAS_INTERCEPTOR = 16
+  FLAG_HONDA_NIDEC_ALT_BRAKE = 32
 
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2

tests/safety/test_honda.py

@@ -27,6 +27,8 @@ class Btn:
 #    * alt SCM messages  (PCM-enable)
 #    * gas interceptor (button-enable)
 #    * gas interceptor with alt SCM messages (button-enable)
+#    * alt SCM and brake messages  (PCM-enable)
+#    * gas interceptor with alt SCM and brake messages (button-enable)
 #  * Bosch
 #    * Bosch with Longitudinal Support
 #  * Bosch Radarless
@@ -416,6 +418,36 @@ def _button_msg(self, buttons, main_on=False, bus=None):
     return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values)
 
 
+class TestHondaNidecPcmAltBrakeSafety(TestHondaNidecPcmAltSafety):
+  """
+    Covers the Honda Nidec safety mode with alt SCM and brake messages
+  """
+  def setUp(self):
+    self.packer = CANPackerPanda("honda_fit_hybrid_2018_can_generated")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT | Panda.FLAG_HONDA_NIDEC_ALT_BRAKE)
+    self.safety.init_tests()
+
+  def _send_brake_msg(self, brake, aeb_req=0, bus=0):
+    values = {"COMPUTER_BRAKE_ALT": brake, "AEB_REQ_1": aeb_req}
+    return self.packer.make_can_msg_panda("BRAKE_COMMAND", bus, values)
+
+
+class TestHondaNidecAltBrakeGasInterceptorSafety(TestHondaNidecAltGasInterceptorSafety):
+  """
+    Covers the Honda Nidec safety mode with alt SCM and brake messages and gas interceptor, switches to a button-enable car
+  """
+  def setUp(self):
+    self.packer = CANPackerPanda("honda_fit_hybrid_2018_can_generated")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT | Panda.FLAG_HONDA_NIDEC_ALT_BRAKE | Panda.FLAG_HONDA_GAS_INTERCEPTOR)
+    self.safety.init_tests()
+
+  def _send_brake_msg(self, brake, aeb_req=0, bus=0):
+    values = {"COMPUTER_BRAKE_ALT": brake, "AEB_REQ_1": aeb_req}
+    return self.packer.make_can_msg_panda("BRAKE_COMMAND", bus, values)
+
+
 
 # ********************* Honda Bosch **********************