Honda: forward radar_hud msg
parent
d301a59d64
commit
fed3aca0da
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@ -6,7 +6,7 @@
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// accel rising edge
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// brake rising edge
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// brake > 0mph
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const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}, {0x39F, 0}};
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const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
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const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
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const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
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const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
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@ -275,7 +275,6 @@ static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// fwd from car to camera. also fwd certain msgs from camera to car
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// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
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// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
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// 0x39f is radar hud
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int bus_fwd = -1;
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if (!relay_malfunction) {
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@ -286,7 +285,7 @@ static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// block stock lkas messages and stock acc messages (if OP is doing ACC)
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int addr = GET_ADDR(to_fwd);
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bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
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bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
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bool is_acc_hud_msg = addr == 0x30C;
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bool is_brake_msg = addr == 0x1FA;
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bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
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if (!block_fwd) {
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@ -10,7 +10,7 @@ from panda.tests.safety.common import test_relay_malfunction, make_msg, \
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MAX_BRAKE = 255
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INTERCEPTOR_THRESHOLD = 328
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TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0]]
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TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
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HONDA_N_HW = 0
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HONDA_BG_HW = 1
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@ -314,7 +314,7 @@ class TestHondaSafety(unittest.TestCase):
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for f in fwd_brake:
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self.safety.set_honda_fwd_brake(f)
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blocked_msgs = [0xE4, 0x194, 0x33D]
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blocked_msgs += [0x30C, 0x39F]
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blocked_msgs += [0x30C]
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if not f:
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blocked_msgs += [0x1FA]
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for b in buss:
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@ -11,7 +11,7 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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# (route, safety mode, param)
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logs = [
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("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC
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("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
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("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
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("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
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("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1), # HONDA.ACCORD
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