From ada8b49cb5940d306c529156622022be2d7fdaa2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Apr 2023 01:51:19 -0700
Subject: [PATCH] Honda Bosch Radarless: allow alt brake (#1341)

* radarless can use this

* fix addr check

* update opendbc ref
---
 Dockerfile                  | 2 +-
 board/safety/safety_honda.h | 5 +++--
 tests/safety/test_honda.py  | 4 ----
 3 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 235476b5c..00983344e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -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 && \
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index c0a73459a..26a20bb6d 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -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
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index f98186703..8e6bed0f8 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -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):
   """