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Honda fwd fixes (#5)

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- fix chime forwarding
- forward radar hud msg from stock
- no EON chime during stock fcw
This commit is contained in:
rbiasini
2019-12-23 13:10:28 -08:00
committed by Riccardo
parent 8f78b61a47
commit a2ae18d1db
9 changed files with 22 additions and 20 deletions
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panda/VERSION
+1 -1
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@@ -1 +1 @@
v1.6.9
v1.7.0
panda/board/obj/panda.bin.signed
BIN
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Binary file not shown.
panda/board/safety/safety_honda.h
+2 -3
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@@ -6,7 +6,7 @@
// accel rising edge
// brake rising edge
// brake > 0mph
const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}, {0x39F, 0}};
const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
@@ -216,7 +216,6 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// fwd from car to camera. also fwd certain msgs from camera to car
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
// 0x39f is radar hud
int bus_fwd = -1;
if (!relay_malfunction) {
@@ -227,7 +226,7 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// block stock lkas messages and stock acc messages (if OP is doing ACC)
int addr = GET_ADDR(to_fwd);
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
bool is_acc_hud_msg = addr == 0x30C;
bool is_brake_msg = addr == 0x1FA;
bool block_fwd = is_lkas_msg ||
(is_acc_hud_msg && long_controls_allowed) ||
panda/tests/safety/test_honda.py
+2 -2
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@@ -8,7 +8,7 @@ from panda.tests.safety.common import test_relay_malfunction, make_msg, test_man
MAX_BRAKE = 255
INTERCEPTOR_THRESHOLD = 328
TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0]]
TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
class TestHondaSafety(unittest.TestCase):
@classmethod
@@ -253,7 +253,7 @@ class TestHondaSafety(unittest.TestCase):
self.safety.set_long_controls_allowed(l)
blocked_msgs = [0xE4, 0x194, 0x33D]
if l:
blocked_msgs += [0x30C, 0x39F]
blocked_msgs += [0x30C]
if not f:
blocked_msgs += [0x1FA]
for b in buss:
panda/tests/safety_replay/test_safety_replay.py
+1 -1
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@@ -11,7 +11,7 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
# (route, safety mode, param)
logs = [
("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD