Restore Honda Nidec pedal lateral ownership

2026-10-28 09:03:46 +08:00 · 2026-10-22 14:59:39 -05:00
parent 744032b961
commit 456c1955a1
50 changed files with 289 additions and 101 deletions
@@ -36,7 +36,10 @@ def qualified(cp):
          cp.openpilotLongitudinalControl and not cp.pcmCruise and
          not cp.passive and not cp.dashcamOnly and not cp.notCar and len(configs) == 1 and
          configs[0].safetyModel == structs.CarParams.SafetyModel.hondaNidec and
-          configs[0].safetyParam == (36 if cp.flags & HondaFlags.NIDEC_ALT_SCM_MESSAGES else 32))
+          (configs[0].safetyParam == (36 if cp.flags & HondaFlags.NIDEC_ALT_SCM_MESSAGES else 32) or
+           (len(cp.safetyConfigs) == 1 and cp.alternativeExperience == 32 and
+            configs[0].safetyParam == ((36 if cp.flags & HondaFlags.NIDEC_ALT_SCM_MESSAGES else 32) | 512 |
+                                      (256 if cp.carFingerprint == CAR.HONDA_ODYSSEY_TWN else 0)))))


 def create_command(packer, gas_amount, counter):
@@ -31,12 +31,13 @@ CANFD_STOCK = frozenset((CAR.HONDA_CRV_6G, CAR.HONDA_PILOT_4G,
 ALT_RADAR_STOCK = frozenset((CAR.ACURA_RDX_3G_MMR, CAR.HONDA_ODYSSEY_5G_MMR,
  CAR.ACURA_TLX_2G, CAR.ACURA_MDX_4G))
 BOSCH_WORDS = frozenset((0, 1, 8, 9, 10, 11, 16, 17, 80, 81, 512, 513, 1058, 1059, 1570, 1571))
-NIDEC_WORDS = frozenset((0, 4, 260))
+NIDEC_WORDS = frozenset((0, 4, 260, 544, 548, 804))

 # qualified() runs several times per 100 Hz frame in card and selfdrived, so
 # everything that depends only on this module is computed once, and its flag
 # tests use plain ints: IntFlag operators cost microseconds each in Python.
-_DETECTED = int(HondaFlags.BOSCH_EXT_HUD | HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.HAS_BSM | HondaFlags.EPS_MODIFIED | HondaFlags.HYBRID)
+_DETECTED = int(HondaFlags.BOSCH_EXT_HUD | HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.HAS_BSM |
+                HondaFlags.EPS_MODIFIED | HondaFlags.HYBRID | HondaFlags.GAS_INTERCEPTOR)
 _ALLOWED_FLAGS = {str(car): int(car.config.flags) | _DETECTED
                  for car in CLASSIC_BOSCH | NIDEC | RADARLESS | CANFD_STOCK | ALT_RADAR_STOCK | {CAR.HONDA_ACCORD_11G}}
 _BOSCH, _BOSCH_RADARLESS, _BOSCH_ALT_BRAKE = int(HondaFlags.BOSCH), int(HondaFlags.BOSCH_RADARLESS), int(HondaFlags.BOSCH_ALT_BRAKE)
@@ -60,6 +61,8 @@ def qualified(cp, *, marked_only=False):
  flags = int(cp.flags)
  if flags & ~allowed:
    return False
+  if flags & int(HondaFlags.GAS_INTERCEPTOR) and fingerprint not in NIDEC:
+    return False
  if fingerprint in ALT_RADAR_STOCK:
    expected = int(bool(flags & _BOSCH_ALT_BRAKE))
    if cp.openpilotLongitudinalControl:
@@ -85,9 +88,14 @@ def qualified(cp, *, marked_only=False):
    return False
  if fingerprint in NIDEC and flags & _NIDEC and not flags & _BOSCH:
    expected = 4 if flags & _NIDEC_ALT_SCM_MESSAGES else 0
+    pedal = bool(flags & int(HondaFlags.GAS_INTERCEPTOR))
+    if pedal:
+      expected |= int(HondaSafetyFlags.GAS_INTERCEPTOR)
+      if cp.alternativeExperience == 32:
+        expected |= int(HondaSafetyFlags.NIDEC_PEDAL_AOL)
    if fingerprint == CAR.HONDA_ODYSSEY_TWN and cp.alternativeExperience == 32:
      expected |= 256
-    return (cp.pcmCruise and cp.openpilotLongitudinalControl and
+    return (bool(cp.pcmCruise) == (not pedal) and cp.openpilotLongitudinalControl and
            safety.safetyModel == _HONDA_NIDEC and safety.safetyParam == expected)
  if fingerprint in CLASSIC_BOSCH and flags & _BOSCH and not flags & _BOSCH_RADARLESS:
    expected = int(bool(flags & _BOSCH_ALT_BRAKE))
@@ -0,0 +1,119 @@
+"""Nidec pedal AOL preserves the actual selected sender and current sensor gate."""
+import os
+from unittest.mock import patch
+
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.honda.interface import CarInterface
+from opendbc.car.honda.radar_interface import RadarInterface
+from opendbc.car.honda.tests.test_nidec_interceptor import IDENTITIES, factory
+from opendbc.car.honda.values import CAR
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+
+
+@pytest.mark.parametrize('identity', IDENTITIES)
+def test_actual_pedal_factory_card_and_reconstructed_controller_keep_the_sender(identity):
+  from opendbc.car.honda.stock_aol import qualified
+  from opendbc.car.honda.nidec_interceptor import qualified as pedal_qualified
+  from openpilot.selfdrive.car.card import Car
+  from openpilot.starpilot.car.honda.aol import native_accepts_cp
+  original = factory(identity)
+  assert pedal_qualified(original) and qualified(original)
+  base = original.safetyConfigs[0].safetyParam
+  for enabled in (False, True):
+    with OpenpilotPrefix(), patch.dict(os.environ, {'SIMULATION':'1', 'AOL_REPLAY_RUNTIME':'1'}):
+      saved = Params()
+      saved.put_bool('OpenpilotEnabledToggle', True, block=True)
+      saved.put_bool('AlwaysOnLateral', enabled, block=True)
+      cp = original.as_reader().as_builder()
+      card = Car(CI=CarInterface(cp), RI=RadarInterface(cp))
+      expected = base | ((512 | (256 if identity == CAR.HONDA_ODYSSEY_TWN else 0)) if enabled else 0)
+      assert card.CP.safetyConfigs[0].safetyParam == expected
+      assert card.CP.alternativeExperience == (32 if enabled else 0)
+      assert card.aol_qualified == enabled
+      assert not card.CP.pcmCruise and card.CP.openpilotLongitudinalControl
+      with structs.CarParams.from_bytes(saved.get('CarParams')) as published:
+        assert published.to_dict() == card.CP.to_dict()
+        restored = published.as_builder()
+      # Construct from FINAL published params, not merely the pre-marker object.
+      rebuilt = CarInterface(restored)
+      assert rebuilt.CC.nidec_interceptor is not None
+      assert pedal_qualified(restored)
+      assert native_accepts_cp(restored, 1, expected) == enabled
+      bad = restored.as_reader().as_builder()
+      bad.safetyConfigs[0].safetyParam |= 0x4000
+      assert not qualified(bad) and not pedal_qualified(bad)
+
+
+CASES = (
+  ('pedal', 1, 544, 0, 'honda_civic_touring_2016_can_generated', False, 'GEARBOX_CVT', 4),
+  ('pedal-alt', 1, 548, 0, 'acura_ilx_2016_can_generated', True, 'GEARBOX_AUTO', 4),
+  ('pedal-twn', 1, 804, 0, 'honda_odyssey_twn_2018_generated', True, 'GEARBOX_AUTO', 4),
+)
+
+
+@pytest.mark.parametrize('profile', CASES)
+@pytest.mark.parametrize('loss', ('sensor_fault', 'sensor_expired', 'wrong_bus', 'bad_tx_crc'))
+def test_actual_pedal_native_brake_sensor_and_transmitted_crc_contract(profile, loss):
+  from opendbc.car.honda.nidec_interceptor import create_command
+  from opendbc.safety.tests.test_honda_stock_aol import TestHondaStockAol
+  from opendbc.safety.tests.libsafety import libsafety_py
+  native = TestHondaStockAol(methodName='runTest')
+  try:
+    native.configure(profile)
+    native.stream()
+    native.normal_engage()
+    native.safety.aol_set_host_request(3)
+    assert native.safety.get_controls_allowed()
+    assert native.safety.aol_get_permission_mask() == 3
+    active = create_command(native.packer, .5, 0)
+    # CANPackerSafety inherits the actual packer; use its real message encoding.
+
+    def packet(msg):
+      return libsafety_py.make_CANPacket(msg[0], msg[2], msg[1])
+    assert native.safety.safety_tx_hook(packet(active))
+    native.press_brake()
+    assert not native.safety.get_controls_allowed()
+    assert native.safety.aol_get_permission_mask() == 1
+    assert not native.safety.safety_tx_hook(packet(active))
+    neutral = create_command(native.packer, 0., 1)
+    assert native.safety.safety_tx_hook(packet(neutral))
+    native.stream()
+    assert not native.safety.get_controls_allowed()  # No longitudinal auto-resume.
+    if loss == 'sensor_fault':
+      assert native.safety.safety_rx_hook(native.packet('GAS_SENSOR', {'STATE':1}))
+      assert native.safety.aol_get_permission_mask() == 0
+    elif loss in ('sensor_expired', 'wrong_bus'):
+      native.safety.set_timer(1_200_001)
+      native.stream(omit='GAS_SENSOR')
+      if loss == 'wrong_bus':
+        assert native.safety.safety_rx_hook(native.packet('GAS_SENSOR', {'STATE':0}, 1))
+      assert native.safety.aol_get_permission_mask() == 0
+    else:
+      data = bytearray(neutral[1])
+      data[5] ^= 1
+      assert not native.safety.safety_tx_hook(libsafety_py.make_CANPacket(neutral[0], neutral[2], data))
+    if loss != 'bad_tx_crc':
+      native.stream()
+      assert native.safety.aol_get_permission_mask() == 0
+  finally:
+    libsafety_py.libsafety.set_alternative_experience(0)
+
+
+@pytest.mark.parametrize('identity', (CAR.HONDA_CIVIC, CAR.ACURA_ILX, CAR.HONDA_ODYSSEY_TWN))
+def test_actual_pedal_card_sd_controls_lat_only_preserves_long_pause(identity):
+  from openpilot.starpilot.aol.tests.stock_lateral_test_helpers import honda_family_case
+  with OpenpilotPrefix():
+    case = honda_family_case('honda', True)
+    case.family_cp = factory(identity).as_reader()
+    try:
+      sd, _, drive, card, receive = case.family_callers(False)
+      assert card.CI.CC.nidec_interceptor is not None
+      axis, _, command = drive(2, native_request_long=False, panda_controls_allowed=False)
+      assert axis.lateralActive and command.latActive
+      assert not axis.longitudinalActive and not command.longActive
+      assert receive(10_020_000_000, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
+    finally:
+      case.doCleanups()
@@ -93,6 +93,7 @@ class HondaSafetyFlags(IntFlag):
  BOSCH_CANFD = 16
  BOSCH_CANFD_MVL = 64
  ALT_RADAR_AOL = 1024  # Exact marked DEBUG alpha owner; physical EPS/gear token.
+  NIDEC_PEDAL_AOL = 512  # Model1 only; distinct from model20 STOCK_TJA.
  STOCK_TJA = 512  # Marked MDX4G AOL; EPS status1 is healthy TJA lockout.


@@ -38,7 +38,9 @@ static bool honda_mvl_stock = false;
 static uint8_t honda_mvl_buttons_fresh = 0U;
 static bool honda_rdx_high_gas = false;
 static bool aol_honda_bosch_long = false;
-static uint32_t aol_honda_main_ts = 0U;
+// Legacy and source-bound Honda owners are mutually exclusive. Both require
+// the same physical MAIN timestamp, so retain a single storage location.
+#define aol_honda_main_ts honda_stock_aol_main_ts
 #define AOL_HONDA_MAIN_TIMEOUT_US 300000U
 typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
 static HondaHw honda_hw = HONDA_NIDEC;
@@ -369,7 +371,8 @@ static safety_config honda_nidec_init(uint16_t param) {
    .msg = {{0x201, 0, 6, 50U, .ignore_checksum = true,
             .ignore_counter = true, .ignore_quality_flag = true}, {0}, {0}},
  };
-  honda_interceptor_reset((param == 32U) || (param == 36U));
+  honda_interceptor_reset((param == 32U) || (param == 36U) ||
+    ((alternative_experience == 32) && ((param == 544U) || (param == 548U) || (param == 804U))));
  const uint16_t HONDA_PARAM_NIDEC_ALT = 4;

  honda_hw = HONDA_NIDEC;
@@ -1,70 +1,94 @@
 #pragma once

-static bool honda_stock_aol_enabled = false;
-static bool honda_stock_aol_token = false;
-static bool honda_stock_aol_pending = false;
+// Keep each flag update atomic across CAN/USB interrupts while compacting
+// private storage. No policy, source checks, or deadlines change.
+static uint16_t honda_stock_aol_flags = 0U;
+_Static_assert(__atomic_always_lock_free(sizeof(honda_stock_aol_flags), &honda_stock_aol_flags), "Honda flag atomicity");
+enum {
+  HONDA_STOCK_ENABLED = 1U << 0U,
+  HONDA_STOCK_TOKEN = 1U << 1U,
+  HONDA_STOCK_PENDING = 1U << 2U,
+  HONDA_STOCK_MAIN_NEUTRAL = 1U << 3U,
+  HONDA_STOCK_LKAS_NEUTRAL = 1U << 4U,
+  HONDA_STOCK_LKAS_PREVIOUS = 1U << 5U,
+  HONDA_STOCK_SESSION = 1U << 6U,
+  HONDA_STOCK_REQUEST_SEEN = 1U << 7U,
+  HONDA_STOCK_ALT_MAIN = 1U << 8U,
+  HONDA_STOCK_DRIVE = 1U << 9U,
+  HONDA_STOCK_TWN = 1U << 10U,
+  HONDA_STOCK_TJA = 1U << 11U,
+  HONDA_STOCK_ALT_LONG = 1U << 12U,
+};
+
+static bool honda_stock_aol_flag(uint16_t bit) {
+  return (__atomic_load_n(&honda_stock_aol_flags, __ATOMIC_RELAXED) & bit) != 0U;
+}
+
+static void honda_stock_aol_set_flag(uint16_t bit, bool value) {
+  if (value) {
+    __atomic_fetch_or(&honda_stock_aol_flags, bit, __ATOMIC_RELAXED);
+  } else {
+    __atomic_fetch_and(&honda_stock_aol_flags, (uint16_t)~bit, __ATOMIC_RELAXED);
+  }
+}
+
 static uint32_t honda_stock_aol_grant_ts = 0U;
-static bool honda_stock_aol_main_neutral = false;
-static bool honda_stock_aol_lkas_neutral = false;
-static bool honda_stock_aol_lkas_previous = false;
-static bool honda_stock_aol_session = false;
-static bool honda_stock_aol_request_seen = false;
-static bool honda_stock_aol_alt_main = false;
-static bool honda_stock_aol_drive = false;
-static bool honda_stock_aol_twn = false;
-static bool honda_stock_aol_tja = false;
-static bool honda_stock_aol_alt_long = false;
 static uint8_t honda_stock_aol_eps = 0U;
 static uint32_t honda_stock_aol_main_ts = 0U;
 static RxCheck *honda_stock_aol_eps_check = NULL;
-static RxCheck *honda_stock_aol_gear_check = NULL;
-static RxCheck honda_rx_workspace[7];
+static RxCheck honda_rx_workspace[8];
+
+// EPS and gear entries are always adjacent; derive the second pointer.
+static RxCheck *honda_stock_aol_gear_check(void) {
+  return (honda_stock_aol_eps_check != NULL) ? honda_stock_aol_eps_check + 1 : NULL;
+}

 static void honda_stock_aol_clear(void) {
-  honda_stock_aol_token = false;
-  honda_stock_aol_pending = false;
-  honda_stock_aol_main_neutral = false;
-  honda_stock_aol_lkas_neutral = false;
+  honda_stock_aol_set_flag(HONDA_STOCK_TOKEN, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_PENDING, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_MAIN_NEUTRAL, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_LKAS_NEUTRAL, false);
 }

 // A new physical grant may precede the host engagement heartbeat. It grants no output
 // until an engaged heartbeat and a fresh host request acknowledge this gesture.
 static void honda_stock_aol_grant(void) {
-  honda_stock_aol_token = true;
-  honda_stock_aol_pending = !heartbeat_engaged;
+  honda_stock_aol_set_flag(HONDA_STOCK_TOKEN, true);
+  honda_stock_aol_set_flag(HONDA_STOCK_PENDING, !heartbeat_engaged);
  honda_stock_aol_grant_ts = microsecond_timer_get();
-  honda_stock_aol_session = heartbeat_engaged;
+  honda_stock_aol_set_flag(HONDA_STOCK_SESSION, heartbeat_engaged);
 }

 static void honda_stock_aol_reset(void) {
  honda_stock_aol_clear();
-  honda_stock_aol_enabled = false;
-  honda_stock_aol_session = false;
-  honda_stock_aol_request_seen = false;
-  honda_stock_aol_alt_main = false;
-  honda_stock_aol_lkas_previous = false;
-  honda_stock_aol_drive = false;
-  honda_stock_aol_twn = false;
-  honda_stock_aol_tja = false;
-  honda_stock_aol_alt_long = false;
+  honda_stock_aol_set_flag(HONDA_STOCK_ENABLED, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_SESSION, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_REQUEST_SEEN, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_ALT_MAIN, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_LKAS_PREVIOUS, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_DRIVE, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_TWN, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_TJA, false);
+  honda_stock_aol_set_flag(HONDA_STOCK_ALT_LONG, false);
  honda_stock_aol_eps = 0U;
  honda_stock_aol_main_ts = 0U;
  honda_stock_aol_eps_check = NULL;
-  honda_stock_aol_gear_check = NULL;
 }

 static void honda_stock_aol_host_request(uint8_t mask) {
-  honda_stock_aol_request_seen |= mask != 0U;
+  if (mask != 0U) { honda_stock_aol_set_flag(HONDA_STOCK_REQUEST_SEEN, true); }
 }

 static bool honda_stock_aol_sources_current(void) {
  bool current = false;
-  if ((honda_stock_aol_eps_check != NULL) && (honda_stock_aol_gear_check != NULL)) {
+  if ((honda_stock_aol_eps_check != NULL) && (honda_stock_aol_gear_check() != NULL)) {
    const uint32_t now = microsecond_timer_get();
-    current = honda_stock_aol_eps_check->status.msg_seen && honda_stock_aol_gear_check->status.msg_seen &&
+    current = honda_stock_aol_eps_check->status.msg_seen && honda_stock_aol_gear_check()->status.msg_seen &&
      (safety_get_ts_elapsed(now, honda_stock_aol_eps_check->status.last_timestamp) <= 300000U) &&
-      (safety_get_ts_elapsed(now, honda_stock_aol_gear_check->status.last_timestamp) <= 300000U) &&
-      (safety_get_ts_elapsed(now, honda_stock_aol_main_ts) <= 300000U);
+      (safety_get_ts_elapsed(now, honda_stock_aol_gear_check()->status.last_timestamp) <= 300000U) &&
+      (safety_get_ts_elapsed(now, honda_stock_aol_main_ts) <= 300000U) &&
+      (!honda_interceptor || (honda_interceptor_sensor_seen && honda_interceptor_sensor_valid &&
+       (safety_get_ts_elapsed(now, honda_interceptor_sensor_us) <= 200000U)));
  }
  return current;
 }
@@ -73,21 +97,21 @@ static uint8_t honda_stock_aol_request_mask(void) {
  uint8_t request = 0U;
  const uint32_t now = microsecond_timer_get();
  const uint32_t grant_age = safety_get_ts_elapsed(now, honda_stock_aol_grant_ts);
-  const bool pending_expired = honda_stock_aol_pending && (grant_age > AOL_HOST_REQUEST_TIMEOUT_US);
-  const bool expired = honda_stock_aol_request_seen &&
+  const bool pending_expired = honda_stock_aol_flag(HONDA_STOCK_PENDING) && (grant_age > AOL_HOST_REQUEST_TIMEOUT_US);
+  const bool expired = honda_stock_aol_flag(HONDA_STOCK_REQUEST_SEEN) &&
    (safety_get_ts_elapsed(now, aol_host_request_ts) > AOL_HOST_REQUEST_TIMEOUT_US);
  if (relay_malfunction || expired || pending_expired || safety_rx_checks_invalid ||
-      (honda_stock_aol_session && !heartbeat_engaged) ||
-      ((honda_stock_aol_session || honda_stock_aol_pending) &&
+      (honda_stock_aol_flag(HONDA_STOCK_SESSION) && !heartbeat_engaged) ||
+      ((honda_stock_aol_flag(HONDA_STOCK_SESSION) || honda_stock_aol_flag(HONDA_STOCK_PENDING)) &&
       (!aol_rx_healthy() || !honda_stock_aol_sources_current()))) {
    honda_stock_aol_clear();
-    honda_stock_aol_session = false;
+    honda_stock_aol_set_flag(HONDA_STOCK_SESSION, false);
  } else if (heartbeat_engaged && aol_rx_healthy() && honda_stock_aol_sources_current()) {
-    const bool pending_ack = !honda_stock_aol_pending || ((aol_host_axis_mask != 0U) &&
+    const bool pending_ack = !honda_stock_aol_flag(HONDA_STOCK_PENDING) || ((aol_host_axis_mask != 0U) &&
      (safety_get_ts_elapsed(now, aol_host_request_ts) <= grant_age));
    if (pending_ack) {
-      honda_stock_aol_pending = false;
-      honda_stock_aol_session = true;
+      honda_stock_aol_set_flag(HONDA_STOCK_PENDING, false);
+      honda_stock_aol_set_flag(HONDA_STOCK_SESSION, true);
      request = aol_host_axis_mask;
    }
  } else {
@@ -101,10 +125,10 @@ static uint8_t honda_stock_aol_permission_mask(void) {
  // A temporary EPS fault (2/6, e.g. a hard driver override) withdraws lateral only;
  // longitudinal stays with controls_allowed as in stock openpilot.
  const bool eps_lateral = (honda_stock_aol_eps == 0U) || (honda_stock_aol_eps == 3U) || (honda_stock_aol_eps == 4U) ||
-    (honda_stock_aol_tja && (honda_stock_aol_eps == 1U));
+    (honda_stock_aol_flag(HONDA_STOCK_TJA) && (honda_stock_aol_eps == 1U));
  const bool eps_known = eps_lateral || (honda_stock_aol_eps == 2U) || (honda_stock_aol_eps == 6U);
-  if (acc_main_on && honda_stock_aol_drive && eps_known) {
-    if (eps_lateral && (controls_allowed || honda_stock_aol_token)) {
+  if (acc_main_on && honda_stock_aol_flag(HONDA_STOCK_DRIVE) && eps_known) {
+    if (eps_lateral && (controls_allowed || honda_stock_aol_flag(HONDA_STOCK_TOKEN))) {
      permission = request & 1U;
    }
    if (controls_allowed) {
@@ -124,53 +148,53 @@ static bool honda_stock_aol_selected(const CANPacket_t *msg, const RxCheck *chec
 }

 static void honda_stock_aol_rx(const CANPacket_t *msg, unsigned int pt_bus, bool normal_engagement) {
-  if (honda_stock_aol_enabled) {
+  if (honda_stock_aol_flag(HONDA_STOCK_ENABLED)) {
    // Retire the old session before interpreting a new validated physical edge.
    // The following gesture may create a bounded pending grant; a status read
    // must not mistake that new grant for the retired session.
-    if (honda_stock_aol_session && !heartbeat_engaged) {
+    if (honda_stock_aol_flag(HONDA_STOCK_SESSION) && !heartbeat_engaged) {
      honda_stock_aol_clear();
-      honda_stock_aol_session = false;
+      honda_stock_aol_set_flag(HONDA_STOCK_SESSION, false);
    }
-    const unsigned int main_addr = honda_stock_aol_alt_main ? 0x1A6U : 0x326U;
-    const unsigned int buttons_addr = honda_stock_aol_alt_main ? 0x1A6U : 0x296U;
-    const unsigned int buttons_len = honda_stock_aol_alt_main ? 8U : 4U;
+    const unsigned int main_addr = honda_stock_aol_flag(HONDA_STOCK_ALT_MAIN) ? 0x1A6U : 0x326U;
+    const unsigned int buttons_addr = honda_stock_aol_flag(HONDA_STOCK_ALT_MAIN) ? 0x1A6U : 0x296U;
+    const unsigned int buttons_len = honda_stock_aol_flag(HONDA_STOCK_ALT_MAIN) ? 8U : 4U;
    if (msg_matches(msg, main_addr, pt_bus, 8U)) {
-      const bool main_on = GET_BIT(msg, honda_stock_aol_alt_main ? 47U : 28U);
+      const bool main_on = GET_BIT(msg, honda_stock_aol_flag(HONDA_STOCK_ALT_MAIN) ? 47U : 28U);
      honda_stock_aol_main_ts = microsecond_timer_get();
      if (!main_on) {
        honda_stock_aol_clear();
-        honda_stock_aol_main_neutral = true;
-      } else if (honda_stock_aol_main_neutral) {
+        honda_stock_aol_set_flag(HONDA_STOCK_MAIN_NEUTRAL, true);
+      } else if (honda_stock_aol_flag(HONDA_STOCK_MAIN_NEUTRAL)) {
        honda_stock_aol_grant();
-        honda_stock_aol_main_neutral = false;
+        honda_stock_aol_set_flag(HONDA_STOCK_MAIN_NEUTRAL, false);
      } else {
      }
    }
    if (msg_matches(msg, buttons_addr, pt_bus, buttons_len)) {
-      const uint8_t setting = honda_stock_aol_alt_main ? ((msg->data[5] >> 2U) & 3U) : ((msg->data[0] >> 2U) & 3U);
+      const uint8_t setting = honda_stock_aol_flag(HONDA_STOCK_ALT_MAIN) ? ((msg->data[5] >> 2U) & 3U) : ((msg->data[0] >> 2U) & 3U);
      const bool lkas = setting == 1U;
      if (!lkas) {
-        honda_stock_aol_lkas_neutral = true;
-      } else if (honda_stock_aol_lkas_neutral && !honda_stock_aol_lkas_previous && acc_main_on) {
+        honda_stock_aol_set_flag(HONDA_STOCK_LKAS_NEUTRAL, true);
+      } else if (honda_stock_aol_flag(HONDA_STOCK_LKAS_NEUTRAL) && !honda_stock_aol_flag(HONDA_STOCK_LKAS_PREVIOUS) && acc_main_on) {
        honda_stock_aol_grant();
-        honda_stock_aol_lkas_neutral = false;
+        honda_stock_aol_set_flag(HONDA_STOCK_LKAS_NEUTRAL, false);
      } else {
      }
-      honda_stock_aol_lkas_previous = lkas;
+      honda_stock_aol_set_flag(HONDA_STOCK_LKAS_PREVIOUS, lkas);
    }
    if (honda_stock_aol_selected(msg, honda_stock_aol_eps_check)) {
      honda_stock_aol_eps = (msg->addr == 0x18FU) ?
-        (honda_stock_aol_twn ? (msg->data[5] & 15U) :
+        (honda_stock_aol_flag(HONDA_STOCK_TWN) ? (msg->data[5] & 15U) :
         ((GET_LEN(msg) == 6U) ? (msg->data[4] & 15U) : ((msg->data[4] >> 4U) & 15U))) :
        ((msg->data[1] >> 4U) & 15U);
      if ((honda_stock_aol_eps != 0U) && (honda_stock_aol_eps != 2U) && (honda_stock_aol_eps != 3U) &&
          (honda_stock_aol_eps != 4U) && (honda_stock_aol_eps != 6U) &&
-          !(honda_stock_aol_tja && (honda_stock_aol_eps == 1U))) {
+          !(honda_stock_aol_flag(HONDA_STOCK_TJA) && (honda_stock_aol_eps == 1U))) {
        honda_stock_aol_clear();
      }
    }
-    if (honda_stock_aol_selected(msg, honda_stock_aol_gear_check)) {
+    if (honda_stock_aol_selected(msg, honda_stock_aol_gear_check())) {
      uint8_t gear = msg->data[4] & 15U;
      if (msg->addr == 0x191U) {
        gear = msg->data[5] & 31U;
@@ -178,19 +202,19 @@ static void honda_stock_aol_rx(const CANPacket_t *msg, unsigned int pt_bus, bool
        gear = msg->data[3] & 15U;
      } else {
      }
-      honda_stock_aol_drive = (msg->addr == 0x188U) ? ((gear == 8U) || (gear == 0U)) :
-        ((gear == 4U) || (gear == 7U) || (gear == 10U) || (gear == 11U));
+      honda_stock_aol_set_flag(HONDA_STOCK_DRIVE, (msg->addr == 0x188U) ? ((gear == 8U) || (gear == 0U)) :
+        ((gear == 4U) || (gear == 7U) || (gear == 10U) || (gear == 11U)));
    }
    // Only a newly accepted physical cruise grant can restore an independent token.
    // Qualify after parsing this frame's brake/main state, before generic pedal checks.
    const bool engagement_source = msg_matches(msg, 0x17CU, pt_bus, 8U) ||
      msg_matches(msg, buttons_addr, pt_bus, buttons_len);
-    const bool request_current = !honda_stock_aol_request_seen ||
+    const bool request_current = !honda_stock_aol_flag(HONDA_STOCK_REQUEST_SEEN) ||
      (safety_get_ts_elapsed(microsecond_timer_get(), aol_host_request_ts) <= AOL_HOST_REQUEST_TIMEOUT_US);
    const bool eps_known = (honda_stock_aol_eps == 0U) || (honda_stock_aol_eps == 2U) ||
      (honda_stock_aol_eps == 3U) || (honda_stock_aol_eps == 4U) || (honda_stock_aol_eps == 6U) ||
-      (honda_stock_aol_tja && (honda_stock_aol_eps == 1U));
-    if (normal_engagement && engagement_source && controls_allowed && acc_main_on && honda_stock_aol_drive &&
+      (honda_stock_aol_flag(HONDA_STOCK_TJA) && (honda_stock_aol_eps == 1U));
+    if (normal_engagement && engagement_source && controls_allowed && acc_main_on && honda_stock_aol_flag(HONDA_STOCK_DRIVE) &&
        eps_known && !brake_pressed && !regen_braking && !steering_disengage &&
        !relay_malfunction && !safety_rx_checks_invalid && request_current &&
        aol_rx_healthy() && honda_stock_aol_sources_current()) {
@@ -200,8 +224,8 @@ static void honda_stock_aol_rx(const CANPacket_t *msg, unsigned int pt_bus, bool
 }

 static safety_config honda_copy_rx(const RxCheck *source, unsigned int count, safety_config ret) {
-  const unsigned int selected_count = (count <= 7U) ? count : 0U;
-  for (unsigned int i = 0U; i < 7U; i++) {
+  const unsigned int selected_count = (count <= 8U) ? count : 0U;
+  for (unsigned int i = 0U; i < 8U; i++) {
    honda_rx_workspace[i] = (i < selected_count) ? source[i] : (RxCheck){0};
  }
  ret.rx_checks = honda_rx_workspace;
@@ -211,18 +235,18 @@ static safety_config honda_copy_rx(const RxCheck *source, unsigned int count, sa

 static safety_config honda_stock_aol_configure(uint16_t param, bool nidec, bool alt_main, unsigned int pt_bus, safety_config ret) {
  honda_stock_aol_reset();
-  bool valid = nidec ? ((param == 0U) || (param == 4U) || (param == 260U)) :
+  bool valid = nidec ? ((param == 0U) || (param == 4U) || (param == 260U) || (param == 544U) || (param == 548U) || (param == 804U)) :
    ((param == 0U) || (param == 1U) || (param == 8U) || (param == 9U) || (param == 16U) || (param == 17U) || (param == 80U) || (param == 81U) || (param == 512U) || (param == 513U));
 #ifdef ALLOW_DEBUG
  valid = valid || (!nidec && ((param == 10U) || (param == 11U) || (param == 1058U) || (param == 1059U) || (param == 1570U) || (param == 1571U)));
 #endif
-  honda_stock_aol_enabled = valid && ((unsigned int)alternative_experience == 32U) &&
-    (ret.rx_checks_len >= 3) && (ret.rx_checks_len <= 5) && (pt_bus <= 1U);
-  honda_stock_aol_alt_main = alt_main;
-  honda_stock_aol_twn = nidec && (param == 260U);
-  honda_stock_aol_tja = !nidec && ((param == 512U) || (param == 513U) || (param == 1570U) || (param == 1571U));
-  honda_stock_aol_alt_long = !nidec && ((param == 1058U) || (param == 1059U) || (param == 1570U) || (param == 1571U));
-  if (honda_stock_aol_enabled && (ret.rx_checks_len <= 5) && (pt_bus <= 1U)) {
+  honda_stock_aol_set_flag(HONDA_STOCK_ENABLED, valid && ((unsigned int)alternative_experience == 32U) &&
+    (ret.rx_checks_len >= 3) && (ret.rx_checks_len <= 6) && (pt_bus <= 1U));
+  honda_stock_aol_set_flag(HONDA_STOCK_ALT_MAIN, alt_main);
+  honda_stock_aol_set_flag(HONDA_STOCK_TWN, nidec && ((param == 260U) || (param == 804U)));
+  honda_stock_aol_set_flag(HONDA_STOCK_TJA, !nidec && ((param == 512U) || (param == 513U) || (param == 1570U) || (param == 1571U)));
+  honda_stock_aol_set_flag(HONDA_STOCK_ALT_LONG, !nidec && ((param == 1058U) || (param == 1059U) || (param == 1570U) || (param == 1571U)));
+  if (honda_stock_aol_flag(HONDA_STOCK_ENABLED) && (ret.rx_checks_len <= 6) && (pt_bus <= 1U)) {
    const unsigned int count = ret.rx_checks_len;
    static const RxCheck eps[] = {
      {.msg = {{0x18F, 0U, 7, 10U, .max_counter = 3U, .ignore_quality_flag = true},
@@ -247,16 +271,15 @@ static safety_config honda_stock_aol_configure(uint16_t param, bool nidec, bool
    };
    honda_rx_workspace[0] = buttons[alt_main ? 2U : pt_bus];
    honda_rx_workspace[count] = eps[pt_bus];
-    if (honda_stock_aol_twn || honda_stock_aol_tja || honda_stock_aol_alt_long || (!nidec && ((param == 16U) || (param == 17U) || (param == 80U) || (param == 81U)))) {
+    if (honda_stock_aol_flag(HONDA_STOCK_TWN) || honda_stock_aol_flag(HONDA_STOCK_TJA) || honda_stock_aol_flag(HONDA_STOCK_ALT_LONG) || (!nidec && ((param == 16U) || (param == 17U) || (param == 80U) || (param == 81U)))) {
      honda_rx_workspace[count].msg[1] = (CanMsgCheck){0};
      honda_rx_workspace[count].msg[2] = (CanMsgCheck){0};
    }
    honda_rx_workspace[count + 1U] = gear[pt_bus];
-    if (honda_stock_aol_tja || honda_stock_aol_alt_long || (!nidec && ((param == 16U) || (param == 17U) || (param == 80U) || (param == 81U)))) {
+    if (honda_stock_aol_flag(HONDA_STOCK_TJA) || honda_stock_aol_flag(HONDA_STOCK_ALT_LONG) || (!nidec && ((param == 16U) || (param == 17U) || (param == 80U) || (param == 81U)))) {
      honda_rx_workspace[count + 1U].msg[2] = (CanMsgCheck){0};
    }
    honda_stock_aol_eps_check = &honda_rx_workspace[count];
-    honda_stock_aol_gear_check = &honda_rx_workspace[count + 1U];
    ret.rx_checks_len = count + 2U;
    static const AolSafetyPolicy policy = {
      .reset = honda_stock_aol_reset,
@@ -7,6 +7,9 @@ from opendbc.safety.tests.libsafety import libsafety_py


 CASES = (
+  ("nidec-pedal", 1, 544, 0, "honda_civic_touring_2016_can_generated", False, "GEARBOX_CVT", 4),
+  ("nidec-pedal-alt", 1, 548, 0, "acura_ilx_2016_can_generated", True, "GEARBOX_AUTO", 4),
+  ("nidec-pedal-twn", 1, 804, 0, "honda_odyssey_twn_2018_generated", True, "GEARBOX_AUTO", 4),
  ("accord-mvl-stock", 20, 80, 0, "honda_common_canfd_generated", False, "GEARBOX_AUTO", 4),
  ("accord-mvl-stock-alt-brake", 20, 81, 0, "honda_common_canfd_generated", False, "GEARBOX_AUTO", 4),
  ("alt-radar-alpha", 20, 1058, 1, "honda_civic_hatchback_ex_2017_can_generated", False, "GEARBOX_AUTO", 4),
@@ -50,6 +53,7 @@ class TestHondaStockAol(unittest.TestCase):
    self.safety.set_aol_test_heartbeat(True)
    self.packer = CANPackerSafety(dbc)
    self.dbc = DBC(dbc)
+    self.pedal = model == 1 and word in (544, 548, 804)
    self.scoped = experience == 32 and (word not in (10, 11, 1058, 1059, 1570, 1571) or self.debug)

  def packet(self, name, values, bus=None):
@@ -74,6 +78,8 @@ class TestHondaStockAol(unittest.TestCase):
      frames.append(("BRAKE_COMMAND", self.packet("BRAKE_COMMAND", {}, 2)))
    elif self.case[2] & 1:
      frames.append(("BRAKE_MODULE", self.packet("BRAKE_MODULE", {"BRAKE_PRESSED": brake})))
+    if self.pedal:
+      frames.append(("GAS_SENSOR", self.packet("GAS_SENSOR", {"INTERCEPTOR_GAS": 0, "INTERCEPTOR_GAS2": 0, "STATE": 0})))
    for name, frame in frames:
      if name != omit:
        self.assertTrue(self.safety.safety_rx_hook(frame), name)
@@ -81,9 +87,11 @@ class TestHondaStockAol(unittest.TestCase):
      self.safety.aol_set_host_request(1)

  def normal_engage(self, *, button=3, gas=0, brake=0):
-    if self.debug and self.case[2] in (10, 11, 1058, 1059, 1570, 1571):
+    if self.pedal or (self.debug and self.case[2] in (10, 11, 1058, 1059, 1570, 1571)):
      for value in (button, 0):
        scm = {"CRUISE_BUTTONS": value, "CRUISE_SETTING": 0}
+        if self.alt:
+          scm["MAIN_ON"] = 1
        self.assertTrue(self.safety.safety_rx_hook(self.packet("SCM_BUTTONS", scm)))
    else:
      self.assertTrue(self.safety.safety_rx_hook(self.packet("POWERTRAIN_DATA", {
@@ -100,7 +108,7 @@ class TestHondaStockAol(unittest.TestCase):

  def test_normal_engagement_then_brake_without_main_or_lkas_gesture(self):
    for case in CASES:
-      for button in ((3, 4) if case[2] in (10, 11, 1058, 1059, 1570, 1571) else (3,)):
+      for button in ((3, 4) if case[2] in (10, 11, 544, 548, 804, 1058, 1059, 1570, 1571) else (3,)):
        for gas in (0, 1):
          with self.subTest(case=case[0], button=button, gas=gas):
            self.configure(case)
@@ -270,7 +278,7 @@ class TestHondaStockAol(unittest.TestCase):

  def test_ae0_remains_without_independent_permission(self):
    for case in CASES:
-      if case[2] == 260:
+      if case[2] in (260, 804):
        continue
      with self.subTest(case=case[0]):
        self.configure(case, experience=0)
@@ -280,7 +288,7 @@ class TestHondaStockAol(unittest.TestCase):

  def test_cold_valid_normal_grant_precedes_engaged_heartbeat(self):
    for case in CASES:
-      for button in ((3, 4) if case[2] in (10, 11, 1058, 1059, 1570, 1571) else (3,)):
+      for button in ((3, 4) if case[2] in (10, 11, 544, 548, 804, 1058, 1059, 1570, 1571) else (3,)):
        with self.subTest(case=case[0], button=button):
          self.configure(case)
          self.safety.set_aol_test_heartbeat(False)
@@ -535,7 +535,7 @@ int main() {
    assert(aol_capable(stock_honda, 20U, VEHICLE_REGISTRY) == (classic || stock));
    assert(aol_runtime_enabled(false, stock_honda, VEHICLE_REGISTRY) == stock);
    stock_honda.safety_mode = 1U;
-    const bool nidec = word == 0U || word == 4U || word == 260U;
+    const bool nidec = word == 0U || word == 4U || word == 260U || word == 544U || word == 548U || word == 804U;
    assert(aol_capable(stock_honda, 1U, VEHICLE_REGISTRY) == nidec);
    assert(aol_runtime_enabled(false, stock_honda, VEHICLE_REGISTRY) == nidec);
    stock_honda.capability_flags = 0U;
@@ -0,0 +1,16 @@
+"""Nidec pedal actual acquisition/parser/Card/Controls/native recovery."""
+import pytest
+from opendbc.car.honda.values import CAR
+from openpilot.starpilot.aol.tests.test_honda_recovery_lifecycle import TestHondaCurrentCaller as CurrentCaller
+from openpilot.starpilot.aol.tests.honda_native_fixture import honda_native_pair as honda_native_pair
+
+@pytest.mark.usefixtures('honda_native_pair')
+class TestHondaPedal(CurrentCaller):
+  def test_pedal_0_eps_reverse_recovery(self):
+    self.run_current_caller(candidate=CAR.HONDA_CIVIC, word=544, pedal=True)
+
+  def test_pedal_1_eps_reverse_recovery(self):
+    self.run_current_caller(candidate=CAR.ACURA_ILX, word=548, pedal=True)
+
+  def test_pedal_2_eps_reverse_recovery(self):
+    self.run_current_caller(candidate=CAR.HONDA_ODYSSEY_TWN, word=804, pedal=True)
@@ -56,7 +56,7 @@ class TestHondaCurrentCaller(unittest.TestCase):
  def test_relay_fault_during_recovered_reverse(self):
    self.run_current_caller(candidate=CAR.HONDA_CIVIC_BOSCH, word=0, fault='relay')

-  def run_current_caller(self, *, candidate, word, fault=None, alternate_brake=False, alpha=False, speed_mps=12.5):
+  def run_current_caller(self, *, candidate, word, fault=None, alternate_brake=False, alpha=False, speed_mps=12.5, pedal=False):
    safety = libsafety_py.libsafety
    with (
      OpenpilotPrefix(),
@@ -81,6 +81,8 @@ class TestHondaCurrentCaller(unittest.TestCase):
      pt_bus = 0 if nidec or candidate.config.flags & (HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_CANFD) else 1
      gear_msg = CANDBC(DBC[candidate][Bus.pt]).name_to_msg['GEARBOX_AUTO']
      fp[pt_bus][gear_msg.address] = gear_msg.size
+      if pedal:
+        fp[pt_bus][0x201] = 6
      if alternate_brake:
        fp[pt_bus][0x1BE] = 3
      fw = [
@@ -108,7 +110,7 @@ class TestHondaCurrentCaller(unittest.TestCase):
      self.assertEqual([record.to_dict() for record in cp.carFw], [record.to_dict() for record in fw])
      self.assertEqual(cp.carFingerprint, candidate)
      self.assertEqual((cp.safetyConfigs[0].safetyParam, cp.alternativeExperience), (word, 32))
-      self.assertEqual(cp.pcmCruise, not alpha)
+      self.assertEqual(cp.pcmCruise, not (alpha or pedal))
      self.assertEqual(cp.openpilotLongitudinalControl, nidec or alpha)
      self.assertEqual((ci.CC.CAN.pt, ci.CC.CAN.lkas), (pt_bus, pt_bus if alpha else 0))
      alt_brake = bool(cp.flags & HondaFlags.BOSCH_ALT_BRAKE)
@@ -344,7 +346,7 @@ class TestHondaCurrentCaller(unittest.TestCase):
              if not previous.latActive:
                self.assertEqual((tx['torque'], tx['request']), (0, False), row)
            else:
-              if alpha and address == 0x1DF and tick == 50:
+              if (alpha and address == 0x1DF or pedal and address == 0x200) and tick == 50:
                # Card applies the prior Controls envelope. Physical brake has
                # already revoked LONG; the native hook must reject this one
                # in-flight positive command before the new envelope arrives.
@@ -37,6 +37,8 @@ def qualified_honda(CP) -> bool:
 def policy_for(CP) -> AolVehiclePolicy:
  if qualified_stock(CP):
    safety_addition = 256 if CP.carFingerprint == CAR.HONDA_ODYSSEY_TWN else 0
+    if CP.flags & HondaFlags.GAS_INTERCEPTOR:
+      safety_addition |= int(HondaSafetyFlags.NIDEC_PEDAL_AOL)
    if CP.carFingerprint in ALT_RADAR_STOCK:
      if CP.carFingerprint == CAR.ACURA_MDX_4G:
        safety_addition |= int(HondaSafetyFlags.STOCK_TJA)
@@ -82,6 +84,8 @@ def retain_on_native_denial(CP, native, state):
 def create_intent(CP, settings):
  if qualified_stock(CP):
    safety_addition = 256 if CP.carFingerprint == CAR.HONDA_ODYSSEY_TWN else 0
+    if CP.flags & HondaFlags.GAS_INTERCEPTOR:
+      safety_addition |= int(HondaSafetyFlags.NIDEC_PEDAL_AOL)
    if CP.carFingerprint in ALT_RADAR_STOCK:
      if CP.carFingerprint == CAR.ACURA_MDX_4G:
        safety_addition |= int(HondaSafetyFlags.STOCK_TJA)
@@ -15,7 +15,7 @@ inline bool honda_stock_aol_param(uint16_t param) {
 }

 inline bool honda_nidec_aol_param(uint16_t param) {
-  return (param == 0U) || (param == 4U) || (param == 260U);
+  return (param == 0U) || (param == 4U) || (param == 260U) || (param == 544U) || (param == 548U) || (param == 804U);
 }

 inline constexpr AolSafetyProfile HONDA_STOCK_AOL_PROFILE{20U, honda_stock_aol_param, true};
@@ -1,4 +1,4 @@
 #pragma once

 extern const uint8_t gitversion[29];
-const uint8_t gitversion[29] = "DEV-8462a39b-Pa5919516-DEBUG";
+const uint8_t gitversion[29] = "DEV-6a773e7d-Pa5919516-DEBUG";
@@ -1 +1 @@
-{"protected_inventory_sha256": "5bbe44b1ca5388e4b8229fad9be7a8a1995c8b9e0ef9b132be58d7c0886e0c5f", "schema_version": 1}
+{"protected_inventory_sha256": "2f31714d64735ea8ce197636014e315a1d6bd9b849b855cc9a12f0f8b30560f5", "schema_version": 1}
@@ -39,6 +39,7 @@ AOL_LIFECYCLE_TARGETS = (
  "openpilot/starpilot/aol/tests/test_stock_lateral_honda.py",
  "openpilot/starpilot/aol/tests/test_honda_reverse_join.py",
  "openpilot/starpilot/aol/tests/test_honda_recovery_lifecycle.py",
+  "openpilot/starpilot/aol/tests/test_honda_pedal_lifecycle.py",
  "openpilot/starpilot/aol/tests/test_honda_canfd_lifecycle.py",
  "openpilot/starpilot/aol/tests/test_honda_alt_radar_lifecycle.py",
  "openpilot/starpilot/aol/tests/test_fresh_inactive_transport.py",