honda pedal support

board/safety.h

@@ -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;
@@ -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;

board/safety/safety_honda.h

@@ -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,
@@ -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)
@@ -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)
@@ -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,
@@ -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;
+  int addr = GET_ADDR(to_push);
-  return (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U;
+
+  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
@@ -190,8 +219,17 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
     }
   }
 
-  if (addr == 0x17C) {
+  // length check because bosch hardware also uses this id (0x201 w/ len = 8)
-    gas_pressed = GET_BYTE(to_push, 0) != 0U;
+  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
@@ -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
@@ -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;
 }
 

board/safety_declarations.h

@@ -203,6 +203,7 @@ 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);
@@ -210,6 +211,8 @@ 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;

python/__init__.py

@@ -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