Honda: use new Bosch LKAS_HUD messages (#23000)

* Honda: use new Bosch LKAS_HUD messages

* enum value

* better name

* flip that

cereal

@@ -1 +1 @@
-Subproject commit 486a09a2e9a8c4ae5bb2853a9bef2b64e875f883
+Subproject commit e5a04ab458afd52cf630cc9e35ccdc10efba6688

panda

@@ -1 +1 @@
-Subproject commit 89438c849befe688f149dd52867ea2aacc766486
+Subproject commit 652367d2e82f21f996c2217857d20ea05567ad62

selfdrive/car/honda/carcontroller.py

@@ -244,6 +244,6 @@ class CarController():
     # Send dashboard UI commands.
     if (frame % 10) == 0:
       idx = (frame//10) % 4
-      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, CS.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
 
     return can_sends

selfdrive/car/honda/hondacan.py

@@ -1,4 +1,4 @@
-from selfdrive.car.honda.values import HONDA_BOSCH, CAR, CarControllerParams
+from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
 from selfdrive.config import Conversions as CV
 
 # CAN bus layout with relay
@@ -98,14 +98,14 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, openpilot_longitudinal_control, stock_hud):
+def create_ui_commands(packer, CP, pcm_speed, hud, is_metric, idx, stock_hud):
   commands = []
-  bus_pt = get_pt_bus(car_fingerprint)
-  radar_disabled = car_fingerprint in HONDA_BOSCH and openpilot_longitudinal_control
-  bus_lkas = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus_pt = get_pt_bus(CP.carFingerprint)
+  radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
+  bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
 
-  if openpilot_longitudinal_control:
-    if car_fingerprint in HONDA_BOSCH:
+  if CP.openpilotLongitudinalControl:
+    if CP.carFingerprint in HONDA_BOSCH:
       acc_hud_values = {
         'CRUISE_SPEED': hud.v_cruise,
         'ENABLE_MINI_CAR': 1,
@@ -142,16 +142,24 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
     'SOLID_LANES': hud.lanes,
     'BEEP': 0,
   }
-  commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
 
-  if radar_disabled and car_fingerprint in HONDA_BOSCH:
+  if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
+    lkas_hud_values['SET_ME_X48'] = 0x48
+
+  if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
+    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
+  else:
+    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+
+  if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
     radar_hud_values = {
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
     }
     commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
 
-    if car_fingerprint == CAR.CIVIC_BOSCH:
+    if CP.carFingerprint == CAR.CIVIC_BOSCH:
       commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx))
 
   return commands

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -52,6 +52,10 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.CRV_5G:
       ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
 
+    # Detect Bosch cars with new HUD msgs
+    if any(0x33DA in f for f in fingerprint.values()):
+      ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
+
     # Accord 1.5T CVT has different gearbox message
     if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
       ret.transmissionType = TransmissionType.cvt

selfdrive/car/honda/values.py

@@ -1,3 +1,5 @@
+from enum import IntFlag
+
 from cereal import car
 from selfdrive.car import dbc_dict
 
@@ -37,6 +39,11 @@ class CarControllerParams():
     self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 
+class HondaFlags(IntFlag):
+  # Bosch models with alternate set of LKAS_HUD messages
+  BOSCH_EXT_HUD = 1
+
+
 # Car button codes
 class CruiseButtons:
   RES_ACCEL = 4