From a0b1d64e4e62cc0c971802d5a119c59821c940b1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 30 Nov 2022 18:56:05 -0800
Subject: [PATCH] Honda Nidec: max gas safety and common speed cmd checks
 (#1179)

* limit gas and speed

* gas safety test
---
 board/safety.h              |  4 ++++
 board/safety/safety_honda.h | 13 +++++++++----
 board/safety_declarations.h |  4 ++++
 tests/safety/test_honda.py  |  5 +++--
 4 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/board/safety.h b/board/safety.h
index b12d75090..54d243d39 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -494,6 +494,10 @@ bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limit
   return violation;
 }
 
+bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits, const bool longitudinal_allowed) {
+  return !longitudinal_allowed && (desired_speed != limits.inactive_speed);
+}
+
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed) {
   bool violation = false;
   if (!longitudinal_allowed) {
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 504bf228b..1880d26d9 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -27,7 +27,10 @@ const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = {
 };
 
 const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
+  .max_gas = 198,  // 0xc6
   .max_brake = 255,
+
+  .inactive_speed = 0,
 };
 
 // Nidec and bosch radarless has the powertrain bus on bus 0
@@ -280,10 +283,12 @@ static int honda_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   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);
-    if (!longitudinal_allowed) {
-      if ((pcm_speed != 0) || (pcm_gas != 0)) {
-        tx = 0;
-      }
+
+    bool violation = false;
+    violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS, longitudinal_allowed);
+    violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS, longitudinal_allowed);
+    if (violation) {
+      tx = 0;
     }
   }
 
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index e7d40630e..da79e89a2 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -66,6 +66,9 @@ typedef struct {
   const int min_gas;
   const int inactive_gas;
   const int max_brake;
+
+  // speed cmd limits
+  const int inactive_speed;
 } LongitudinalLimits;
 
 typedef struct {
@@ -128,6 +131,7 @@ void relay_malfunction_set(void);
 void relay_malfunction_reset(void);
 bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits);
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits, const bool longitudinal_allowed);
+bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_interceptor_checks(CANPacket_t *to_send, const bool longitudinal_allowed);
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index f3fadb1ad..9a429771a 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -266,6 +266,7 @@ class TestHondaNidecSafetyBase(HondaBase):
   BUTTONS_BUS = 0
 
   INTERCEPTOR_THRESHOLD = 492
+  MAX_GAS = 198
 
   @classmethod
   def setUpClass(cls):
@@ -297,9 +298,9 @@ class TestHondaNidecSafetyBase(HondaBase):
   def test_acc_hud_safety_check(self):
     for controls_allowed in [True, False]:
       self.safety.set_controls_allowed(controls_allowed)
-      for pcm_gas in range(0, 0xc6):
+      for pcm_gas in range(0, 255):
         for pcm_speed in range(0, 100):
-          send = True if controls_allowed else pcm_gas == 0 and pcm_speed == 0
+          send = pcm_gas <= self.MAX_GAS if controls_allowed else pcm_gas == 0 and pcm_speed == 0
           self.assertEqual(send, self.safety.safety_tx_hook(self._send_acc_hud_msg(pcm_gas, pcm_speed)))
 
   def test_fwd_hook(self):