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Honda Bosch Radarless: allow alt brake (#1341) 

* radarless can use this

* fix addr check

* update opendbc ref
This commit is contained in:
Shane Smiskol 2023-04-14 01:51:19 -07:00 committed by GitHub
parent 0117ff9d13
commit ada8b49cb5
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3 changed files with 4 additions and 7 deletions
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2
Dockerfile
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@ -51,7 +51,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
ENV PANDA_PATH=/tmp/openpilot/panda
ENV OPENPILOT_REF="ee0dd36a3c775dbd82493c84f4e7272c1eb3fcbd"
ENV OPENDBC_REF="e8e97fcf00be9a696be009aa37ca13c55b9f632c"
ENV OPENDBC_REF="3c81860270e918d1a08f14a833522fd798aa39ca"
COPY requirements.txt /tmp/
RUN pyenv install 3.8.10 && \

5
board/safety/safety_honda.h
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@ -39,7 +39,8 @@ AddrCheckStruct honda_common_addr_checks[] = {
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, // SCM_BUTTONS
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // ENGINE_DATA
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // POWERTRAIN_DATA
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, // POWERTRAIN_DATA
{0x1BE, 0, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}}, // BRAKE_MODULE (for bosch radarless)
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // SCM_FEEDBACK
};
#define HONDA_COMMON_ADDR_CHECKS_LEN (sizeof(honda_common_addr_checks) / sizeof(honda_common_addr_checks[0]))
@ -397,7 +398,7 @@ static const addr_checks* honda_bosch_init(uint16_t param) {
honda_hw = HONDA_BOSCH;
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) && !honda_bosch_radarless;
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
// radar disabled so allow gas/brakes
#ifdef ALLOW_DEBUG

4
tests/safety/test_honda.py
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@ -524,10 +524,6 @@ class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
self.packer = CANPackerPanda("honda_civic_ex_2022_can_generated")
self.safety = libpanda_py.libpanda
# These cars do not have 0x1BE (BRAKE_MODULE)
def test_alt_disengage_on_brake(self):
pass
class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
"""