wip

2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -7,6 +7,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit

 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -94,8 +95,8 @@ def process_hud_alert(hud_alert):


 HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise", "lead_visible", "personality_profile",
-                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
+                     ["pcm_accel", "v_cruise", "lead_visible",
+                      "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])


 def rate_limit_steer(new_steer, last_steer):
@@ -104,11 +105,12 @@ def rate_limit_steer(new_steer, last_steer):
  return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)


-class CarController:
+class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
    self.packer = CANPacker(dbc_name)
    self.params = CarControllerParams(CP)
+    self.CAN = hondacan.CanBus(CP)
    self.frame = 0

    self.braking = False
@@ -167,7 +169,7 @@ class CarController:
        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))

    # Send steering command.
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
+    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
                                                      CS.CP.openpilotLongitudinalControl))

    # wind brake from air resistance decel at high speed
@@ -201,12 +203,12 @@ class CarController:

    if not self.CP.openpilotLongitudinalControl:
      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
      # If using stock ACC, spam cancel command to kill gas when OP disengages.
      if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
      elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))

    else:
      # Send gas and brake commands.
@@ -222,7 +224,7 @@ class CarController:

          stopping = actuators.longControlState == LongCtrlState.stopping
          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
-          can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
+          can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
                                                        self.stopping_counter, self.CP.carFingerprint))
        else:
          apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
@@ -230,7 +232,7 @@ class CarController:
          pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)

          pcm_override = True
-          can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+          can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
                                                         pcm_override, pcm_cancel_cmd, fcw_display,
                                                         self.CP.carFingerprint, CS.stock_brake))
          self.apply_brake_last = apply_brake
@@ -251,9 +253,9 @@ class CarController:

    # Send dashboard UI commands.
    if self.frame % 10 == 0:
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
-                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
+      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))

      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
        self.speed = pcm_speed
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
+from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                 HondaFlags
@@ -64,7 +64,7 @@ def get_can_messages(CP, gearbox_msg):
      messages.append(("CRUISE_PARAMS", 50))

  # TODO: clean this up
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+  if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
    pass
  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -131,7 +131,7 @@ class CarState(CarStateBase):
    # panda checks if the signal is non-zero
    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
    # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -208,6 +208,10 @@ class CarState(CarStateBase):
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)

    if self.CP.carFingerprint in HONDA_BOSCH:
+      # The PCM always manages its own cruise control state, but doesn't publish it
+      if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+        ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
+
      if not self.CP.openpilotLongitudinalControl:
        # ACC_HUD is on camera bus on radarless cars
        acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
@@ -268,40 +272,17 @@ class CarState(CarStateBase):
      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
      ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1

-    # Driving personalities function
-    if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
-      # Sync with the onroad UI button
-      if self.fpf.personality_changed_via_ui:
-        self.personality_profile = self.fpf.current_personality
-        self.previous_personality_profile = self.personality_profile
-        self.fpf.reset_personality_changed_param()
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_setting == 3

-      # Change personality upon steering wheel button press
-      distance_button = self.cruise_setting == 3
-
-      if distance_button and not self.distance_previously_pressed:
-        self.personality_profile = (self.previous_personality_profile + 2) % 3
-      self.distance_previously_pressed = distance_button
-
-      if self.personality_profile != self.previous_personality_profile:
-        self.fpf.distance_button_function(self.personality_profile)
-        self.previous_personality_profile = self.personality_profile
-
-    # Toggle Experimental Mode from steering wheel function
-    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
-      lkas_pressed = self.cruise_setting == 1
-      if lkas_pressed and not self.lkas_previously_pressed:
-        if frogpilot_variables.conditional_experimental_mode:
-          self.fpf.update_cestatus_lkas()
-        else:
-          self.fpf.update_experimental_mode()
-      self.lkas_previously_pressed = lkas_pressed
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = self.cruise_setting == 1

    return ret

  def get_can_parser(self, CP):
    messages = get_can_messages(CP, self.gearbox_msg)
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint))
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt)

  @staticmethod
  def get_cam_can_parser(CP):
@@ -310,9 +291,10 @@ class CarState(CarStateBase):
    ]

    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      messages.append(("LKAS_HUD", 10))
-      if not CP.openpilotLongitudinalControl:
-        messages.append(("ACC_HUD", 10))
+      messages += [
+        ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
+      ]

    elif CP.carFingerprint not in HONDA_BOSCH:
      messages += [
@@ -321,7 +303,7 @@ class CarState(CarStateBase):
        ("BRAKE_COMMAND", 50),
      ]

-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)

  @staticmethod
  def get_body_can_parser(CP):
@@ -330,6 +312,6 @@ class CarState(CarStateBase):
        ("BSM_STATUS_LEFT", 3),
        ("BSM_STATUS_RIGHT", 3),
      ]
-      bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+      bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
      return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
    return None
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -39,6 +39,7 @@ FW_VERSIONS = {
      b'37805-6B2-A810\x00\x00',
      b'37805-6B2-A820\x00\x00',
      b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-A960\x00\x00',
      b'37805-6B2-AA10\x00\x00',
      b'37805-6B2-C520\x00\x00',
      b'37805-6B2-C540\x00\x00',
@@ -48,6 +49,7 @@ FW_VERSIONS = {
    ],
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-TVC-A910\x00\x00',
+      b'54008-TWA-A910\x00\x00',
    ],
    (Ecu.transmission, 0x18da1ef1, None): [
      b'28101-6A7-A220\x00\x00',
@@ -89,6 +91,12 @@ FW_VERSIONS = {
      b'57114-TVA-C530\x00\x00',
      b'57114-TVA-E520\x00\x00',
      b'57114-TVE-H250\x00\x00',
+      b'57114-TWA-A040\x00\x00',
+      b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
+      b'57114-TWA-B520\x00\x00',
+      b'57114-TWA-C510\x00\x00',
+      b'57114-TWB-H030\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TBX-H120\x00\x00',
@@ -100,6 +108,7 @@ FW_VERSIONS = {
      b'39990-TVA-X030\x00\x00',
      b'39990-TVA-X040\x00\x00',
      b'39990-TVE-H130\x00\x00',
+      b'39990-TWB-H120\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TBX-H230\x00\x00',
@@ -108,6 +117,9 @@ FW_VERSIONS = {
      b'77959-TVA-H230\x00\x00',
      b'77959-TVA-L420\x00\x00',
      b'77959-TVA-X330\x00\x00',
+      b'77959-TWA-A440\x00\x00',
+      b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
    ],
    (Ecu.combinationMeter, 0x18da60f1, None): [
      b'78109-TBX-H310\x00\x00',
@@ -141,7 +153,19 @@ FW_VERSIONS = {
      b'78109-TVC-M510\x00\x00',
      b'78109-TVC-YF10\x00\x00',
      b'78109-TVE-H610\x00\x00',
+      b'78109-TWA-A010\x00\x00',
+      b'78109-TWA-A020\x00\x00',
+      b'78109-TWA-A030\x00\x00',
+      b'78109-TWA-A110\x00\x00',
+      b'78109-TWA-A120\x00\x00',
+      b'78109-TWA-A130\x00\x00',
      b'78109-TWA-A210\x00\x00',
+      b'78109-TWA-A220\x00\x00',
+      b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-A610\x00\x00',
+      b'78109-TWA-H210\x00\x00',
+      b'78109-TWA-L010\x00\x00',
+      b'78109-TWA-L210\x00\x00',
    ],
    (Ecu.hud, 0x18da61f1, None): [
      b'78209-TVA-A010\x00\x00',
@@ -158,6 +182,9 @@ FW_VERSIONS = {
      b'36802-TVE-H070\x00\x00',
      b'36802-TWA-A070\x00\x00',
      b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A210\x00\x00',
+      b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
    ],
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TBX-H130\x00\x00',
@@ -166,72 +193,17 @@ FW_VERSIONS = {
      b'36161-TVC-A330\x00\x00',
      b'36161-TVE-H050\x00\x00',
      b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
    ],
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TVA-A010\x00\x00',
      b'38897-TVA-A020\x00\x00',
      b'38897-TVA-A230\x00\x00',
      b'38897-TVA-A240\x00\x00',
-    ],
-  },
-  CAR.ACCORDH: {
-    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TWA-A120\x00\x00',
      b'38897-TWD-J020\x00\x00',
    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A040\x00\x00',
-      b'57114-TWA-A050\x00\x00',
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-      b'57114-TWA-C510\x00\x00',
-      b'57114-TWB-H030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-A440\x00\x00',
-      b'77959-TWA-L420\x00\x00',
-      b'77959-TWB-H220\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A010\x00\x00',
-      b'78109-TWA-A020\x00\x00',
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A110\x00\x00',
-      b'78109-TWA-A120\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A220\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-      b'78109-TWA-A610\x00\x00',
-      b'78109-TWA-H210\x00\x00',
-      b'78109-TWA-L010\x00\x00',
-      b'78109-TWA-L210\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A010\x00\x00',
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A070\x00\x00',
-      b'36161-TWA-A330\x00\x00',
-      b'36161-TWB-H040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A070\x00\x00',
-      b'36802-TWA-A080\x00\x00',
-      b'36802-TWA-A210\x00\x00',
-      b'36802-TWA-A330\x00\x00',
-      b'36802-TWB-H060\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-A340\x00\x00',
-      b'39990-TWB-H120\x00\x00',
-    ],
  },
  CAR.CIVIC: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
@@ -844,6 +816,7 @@ FW_VERSIONS = {
      b'37805-5MR-3250\x00\x00',
      b'37805-5MR-4070\x00\x00',
      b'37805-5MR-4080\x00\x00',
+      b'37805-5MR-4170\x00\x00',
      b'37805-5MR-4180\x00\x00',
      b'37805-5MR-A240\x00\x00',
      b'37805-5MR-A250\x00\x00',
@@ -959,6 +932,7 @@ FW_VERSIONS = {
      b'54008-TG7-A530\x00\x00',
    ],
    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EY-A040\x00\x00',
      b'28101-5EY-A050\x00\x00',
      b'28101-5EY-A100\x00\x00',
      b'28101-5EY-A430\x00\x00',
@@ -979,6 +953,7 @@ FW_VERSIONS = {
      b'37805-RLV-4070\x00\x00',
      b'37805-RLV-5140\x00\x00',
      b'37805-RLV-5230\x00\x00',
+      b'37805-RLV-A630\x00\x00',
      b'37805-RLV-A830\x00\x00',
      b'37805-RLV-A840\x00\x00',
      b'37805-RLV-B210\x00\x00',
@@ -1094,6 +1069,7 @@ FW_VERSIONS = {
      b'57114-TG7-A630\x00\x00',
      b'57114-TG7-A730\x00\x00',
      b'57114-TG8-A140\x00\x00',
+      b'57114-TG8-A230\x00\x00',
      b'57114-TG8-A240\x00\x00',
      b'57114-TG8-A630\x00\x00',
      b'57114-TG8-A730\x00\x00',
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,4 +1,5 @@
 from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import CanBusBase
 from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams

 # CAN bus layout with relay
@@ -8,15 +9,34 @@ from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_
 # 3 = F-CAN A - OBDII port


-def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
+class CanBus(CanBusBase):
+  def __init__(self, CP=None, fingerprint=None) -> None:
+    # use fingerprint if specified
+    super().__init__(CP if fingerprint is None else None, fingerprint)
+
+    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
+      self._pt, self._radar = self.offset + 1, self.offset
+    else:
+      self._pt, self._radar = self.offset, self.offset + 1
+
+  @property
+  def pt(self) -> int:
+    return self._pt
+
+  @property
+  def radar(self) -> int:
+    return self._radar
+
+  @property
+  def camera(self) -> int:
+    return self.offset + 2


-def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
+def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
  no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
  if radar_disabled or no_radar:
    # when radar is disabled, steering commands are sent directly to powertrain bus
-    return get_pt_bus(car_fingerprint)
+    return CAN.pt
  # normally steering commands are sent to radar, which forwards them to powertrain bus
  return 0

@@ -26,7 +46,7 @@ def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS


-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
+def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
  # TODO: do we loose pressure if we keep pump off for long?
  brakelights = apply_brake > 0
  brake_rq = apply_brake > 0
@@ -53,13 +73,11 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
    values["COMPUTER_BRAKE"] = apply_brake
    values["BRAKE_PUMP_REQUEST"] = pump_on

-  bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("BRAKE_COMMAND", bus, values)
+  return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)


-def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
  commands = []
-  bus = get_pt_bus(car_fingerprint)
  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]

  control_on = 5 if enabled else 0
@@ -96,43 +114,43 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, c
      "SET_TO_75": 0x75,
      "SET_TO_30": 0x30,
    }
-    commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
+    commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))

-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
+  commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
  return commands


-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
+def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
  values = {
    "STEER_TORQUE": apply_steer if lkas_active else 0,
    "STEER_TORQUE_REQUEST": lkas_active,
  }
-  bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
  return packer.make_can_msg("STEERING_CONTROL", bus, values)


-def create_bosch_supplemental_1(packer, car_fingerprint):
+def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
  # non-active params
  values = {
    "SET_ME_X04": 0x04,
    "SET_ME_X80": 0x80,
    "SET_ME_X10": 0x10,
  }
-  bus = get_lkas_cmd_bus(car_fingerprint)
+  bus = get_lkas_cmd_bus(CAN, car_fingerprint)
  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)


-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
+def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
  commands = []
-  bus_pt = get_pt_bus(CP.carFingerprint)
  radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
-  bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
+  bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)

  if CP.openpilotLongitudinalControl:
    acc_hud_values = {
      'CRUISE_SPEED': hud.v_cruise,
      'ENABLE_MINI_CAR': 1 if enabled else 0,
-      'HUD_DISTANCE': hud.personality_profile,
+      # only moves the lead car without ACC_ON
+      'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4,  # wraps to 0 at 4 bars
      'IMPERIAL_UNIT': int(not is_metric),
      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
      'SET_ME_X01_2': 1,
@@ -143,6 +161,8 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
      acc_hud_values['FCM_OFF'] = 1
      acc_hud_values['FCM_OFF_2'] = 1
    else:
+      # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
+      acc_hud_values['ACC_ON'] = int(enabled)
      acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
      acc_hud_values['PCM_GAS'] = hud.pcm_accel
      acc_hud_values['SET_ME_X01'] = 1
@@ -150,7 +170,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
      acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
      acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
      acc_hud_values['ICONS'] = acc_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
+    commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))

  lkas_hud_values = {
    'SET_ME_X41': 0x41,
@@ -179,19 +199,19 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
      'CMBS_OFF': 0x01,
      'SET_TO_1': 0x01,
    }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
+    commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))

    if CP.carFingerprint == CAR.CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))

  return commands


-def spam_buttons_command(packer, button_val, car_fingerprint):
+def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
  values = {
    'CRUISE_BUTTONS': button_val,
    'CRUISE_SETTING': 0,
  }
  # send buttons to camera on radarless cars
-  bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
+  bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
  return packer.make_can_msg("SCM_BUTTONS", bus, values)
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.selfdrive.car.honda.hondacan import get_pt_bus
-from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
-                                                 HONDA_BOSCH_RADARLESS
+from openpilot.selfdrive.car.honda.hondacan import CanBus
+from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -16,6 +16,8 @@ EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type


 class CarInterface(CarInterfaceBase):
@@ -39,9 +41,11 @@ class CarInterface(CarInterfaceBase):
      return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)

  @staticmethod
-  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
    ret.carName = "honda"

+    CAN = CanBus(ret, fingerprint)
+
    if candidate in HONDA_BOSCH:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
      ret.radarUnavailable = True
@@ -49,24 +53,24 @@ class CarInterface(CarInterfaceBase):
      # WARNING: THIS DISABLES AEB!
      # If Bosch radarless, this blocks ACC messages from the camera
      ret.experimentalLongitudinalAvailable = True
-      ret.openpilotLongitudinalControl = experimental_long and not params.get_bool("DisableOpenpilotLongitudinal")
+      ret.openpilotLongitudinalControl = experimental_long
      ret.pcmCruise = not ret.openpilotLongitudinalControl
    else:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
-      ret.enableGasInterceptor = 0x201 in fingerprint[0]
-      ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
+      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
+      ret.openpilotLongitudinalControl = not disable_openpilot_long

      ret.pcmCruise = not ret.enableGasInterceptor

    if candidate == CAR.CRV_5G:
-      ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
+      ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]

    # 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]:
+    # Accord ICE 1.5T CVT has different gearbox message
+    if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
      ret.transmissionType = TransmissionType.cvt

    # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@@ -96,10 +100,6 @@ class CarInterface(CarInterfaceBase):
        eps_modified = True

    if candidate == CAR.CIVIC:
-      ret.mass = 1326.
-      ret.wheelbase = 2.70
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
      if eps_modified:
        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@@ -114,24 +114,15 @@ class CarInterface(CarInterfaceBase):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
-      ret.mass = 1326.
-      ret.wheelbase = 2.70
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
      if eps_modified:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS
      else:
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

-    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
-      ret.mass = 3279. * CV.LB_TO_KG
-      ret.wheelbase = 2.83
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 16.33  # 11.82 is spec end-to-end
+    elif candidate == CAR.ACCORD:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.8467

      if eps_modified:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@@ -139,29 +130,15 @@ class CarInterface(CarInterfaceBase):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.ACURA_ILX:
-      ret.mass = 3095. * CV.LB_TO_KG
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.37
-      ret.steerRatio = 18.61  # 15.3 is spec end-to-end
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.72
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate in (CAR.CRV, CAR.CRV_EU):
-      ret.mass = 3572. * CV.LB_TO_KG
-      ret.wheelbase = 2.62
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.89  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.CRV_5G:
-      ret.mass = 3410. * CV.LB_TO_KG
-      ret.wheelbase = 2.66
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.0  # 12.3 is spec end-to-end
      if eps_modified:
        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@@ -171,45 +148,23 @@ class CarInterface(CarInterfaceBase):
      else:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
-      ret.tireStiffnessFactor = 0.677
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.CRV_HYBRID:
-      ret.mass = 1667.  # mean of 4 models in kg
-      ret.wheelbase = 2.66
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.0  # 12.3 is spec end-to-end
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.677
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.FIT:
-      ret.mass = 2644. * CV.LB_TO_KG
-      ret.wheelbase = 2.53
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 13.06
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.75
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate == CAR.FREED:
-      ret.mass = 3086. * CV.LB_TO_KG
-      ret.wheelbase = 2.74
-      # the remaining parameters were copied from FIT
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 13.06
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.tireStiffnessFactor = 0.75
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate in (CAR.HRV, CAR.HRV_3G):
-      ret.mass = 3125 * CV.LB_TO_KG
-      ret.wheelbase = 2.61
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.2
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.tireStiffnessFactor = 0.5
      if candidate == CAR.HRV:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
        ret.wheelSpeedFactor = 1.025
@@ -217,29 +172,14 @@ class CarInterface(CarInterfaceBase):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning

    elif candidate == CAR.ACURA_RDX:
-      ret.mass = 3935. * CV.LB_TO_KG
-      ret.wheelbase = 2.68
-      ret.centerToFront = ret.wheelbase * 0.38
-      ret.steerRatio = 15.0  # as spec
-      ret.tireStiffnessFactor = 0.444
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate == CAR.ACURA_RDX_3G:
-      ret.mass = 4068. * CV.LB_TO_KG
-      ret.wheelbase = 2.75
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 11.95  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
-      ret.tireStiffnessFactor = 0.677

    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
-      ret.mass = 1900.
-      ret.wheelbase = 3.00
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 14.35  # as spec
-      ret.tireStiffnessFactor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
      if candidate == CAR.ODYSSEY_CHN:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
@@ -247,47 +187,22 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end

    elif candidate == CAR.PILOT:
-      ret.mass = 4278. * CV.LB_TO_KG  # average weight
-      ret.wheelbase = 2.86
-      ret.centerToFront = ret.wheelbase * 0.428
-      ret.steerRatio = 16.0  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate == CAR.RIDGELINE:
-      ret.mass = 4515. * CV.LB_TO_KG
-      ret.wheelbase = 3.18
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.59  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate == CAR.INSIGHT:
-      ret.mass = 2987. * CV.LB_TO_KG
-      ret.wheelbase = 2.7
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.HONDA_E:
-      ret.mass = 3338.8 * CV.LB_TO_KG
-      ret.wheelbase = 2.5
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 16.71
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning

    elif candidate == CAR.CLARITY:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
-      ret.mass = 4052. * CV.LB_TO_KG
-      ret.wheelbase = 2.75
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 16.50  # 12.72 is end-to-end spec
      if eps_modified:
        for fw in car_fw:
          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
@@ -300,14 +215,16 @@ class CarInterface(CarInterfaceBase):
      else:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      tire_stiffness_factor = 1.

    else:
      raise ValueError(f"unsupported car {candidate}")

    # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH:
+    # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
+    if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
+
+    if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE

    # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
@@ -345,11 +262,12 @@ class CarInterface(CarInterfaceBase):

    ret.buttonEvents = [
      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
    ]

    # events
-    events = self.create_common_events(ret, frogpilot_variables, pcm_enable=False)
+    events = self.create_common_events(ret, pcm_enable=False)
    if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
      events.add(EventName.belowEngageSpeed)

--- a/selfdrive/car/honda/tests/init.py
+++ b/selfdrive/car/honda/tests/init.py
--- a/selfdrive/car/honda/tests/test_honda.py
+++ b/selfdrive/car/honda/tests/test_honda.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import re
+import unittest
+
+from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS
+
+HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
+
+
+class TestHondaFingerprint(unittest.TestCase):
+  def test_fw_version_format(self):
+    # Asserts all FW versions follow an expected format
+    for fw_by_ecu in FW_VERSIONS.values():
+      for fws in fw_by_ecu.values():
+        for fw in fws:
+          self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw)
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,12 +1,11 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag, StrEnum
-from typing import Dict, List, Optional, Union
+from enum import Enum, IntFlag

 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
-from openpilot.selfdrive.car import dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

 Ecu = car.CarParams.Ecu
@@ -49,10 +48,19 @@ class CarControllerParams:


 class HondaFlags(IntFlag):
+  # Detected flags
  # Bosch models with alternate set of LKAS_HUD messages
  BOSCH_EXT_HUD = 1
  BOSCH_ALT_BRAKE = 2

+  # Static flags
+  BOSCH = 4
+  BOSCH_RADARLESS = 8
+
+  NIDEC = 16
+  NIDEC_ALT_PCM_ACCEL = 32
+  NIDEC_ALT_SCM_MESSAGES = 64
+

 # Car button codes
 class CruiseButtons:
@@ -62,6 +70,11 @@ class CruiseButtons:
  MAIN = 1


+class CruiseSettings:
+  DISTANCE = 3
+  LKAS = 1
+
+
 # See dbc files for info on values
 VISUAL_HUD = {
  VisualAlert.none: 0,
@@ -75,31 +88,15 @@ VISUAL_HUD = {
 }


-class CAR(StrEnum):
-  ACCORD = "HONDA ACCORD 2018"
-  ACCORDH = "HONDA ACCORD HYBRID 2018"
-  CIVIC = "HONDA CIVIC 2016"
-  CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
-  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
-  CIVIC_2022 = "HONDA CIVIC 2022"
-  ACURA_ILX = "ACURA ILX 2016"
-  CRV = "HONDA CR-V 2016"
-  CRV_5G = "HONDA CR-V 2017"
-  CRV_EU = "HONDA CR-V EU 2016"
-  CRV_HYBRID = "HONDA CR-V HYBRID 2019"
-  FIT = "HONDA FIT 2018"
-  FREED = "HONDA FREED 2020"
-  HRV = "HONDA HRV 2019"
-  HRV_3G = "HONDA HR-V 2023"
-  ODYSSEY = "HONDA ODYSSEY 2018"
-  ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
-  ACURA_RDX = "ACURA RDX 2018"
-  ACURA_RDX_3G = "ACURA RDX 2020"
-  PILOT = "HONDA PILOT 2017"
-  RIDGELINE = "HONDA RIDGELINE 2017"
-  INSIGHT = "HONDA INSIGHT 2019"
-  HONDA_E = "HONDA E 2020"
-  CLARITY = "HONDA CLARITY 2018"
+@dataclass
+class HondaCarDocs(CarDocs):
+  package: str = "Honda Sensing"
+
+  def init_make(self, CP: car.CarParams):
+    if CP.flags & HondaFlags.BOSCH:
+      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
+    else:
+      self.car_parts = CarParts.common([CarHarness.nidec])


 class Footnote(Enum):
@@ -108,56 +105,191 @@ class Footnote(Enum):
    Column.FSR_STEERING)


-@dataclass
-class HondaCarInfo(CarInfo):
-  package: str = "Honda Sensing"
-
-  def init_make(self, CP: car.CarParams):
-    if CP.carFingerprint in HONDA_BOSCH:
-      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
-    else:
-      self.car_parts = CarParts.common([CarHarness.nidec])
+class HondaBoschPlatformConfig(PlatformConfig):
+  def init(self):
+    self.flags |= HondaFlags.BOSCH


-CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
-  CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
-  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
-                 footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
-  ],
-  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
-  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-    HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-  ],
-  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
-  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.PILOT: [
-    HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-    HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
-  ],
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.CLARITY: HondaCarInfo("Honda Clarity 2018-22"),
-}
+class HondaNidecPlatformConfig(PlatformConfig):
+  def init(self):
+    self.flags |= HondaFlags.NIDEC
+
+
+class CAR(Platforms):
+  # Bosch Cars
+  ACCORD = HondaBoschPlatformConfig(
+    "HONDA ACCORD 2018",
+    [
+      HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    ],
+    # steerRatio: 11.82 is spec end-to-end
+    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
+    dbc_dict('honda_accord_2018_can_generated', None),
+  )
+  CIVIC_BOSCH = HondaBoschPlatformConfig(
+    "HONDA CIVIC (BOSCH) 2019",
+    [
+      HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+                   footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
+    ],
+    CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
+    dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
+  )
+  CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
+    "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
+    [],  # don't show in docs
+    CIVIC_BOSCH.specs,
+    dbc_dict('honda_accord_2018_can_generated', None),
+  )
+  CIVIC_2022 = HondaBoschPlatformConfig(
+    "HONDA CIVIC 2022",
+    [
+      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    ],
+    CIVIC_BOSCH.specs,
+    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    flags=HondaFlags.BOSCH_RADARLESS,
+  )
+  CRV_5G = HondaBoschPlatformConfig(
+    "HONDA CR-V 2017",
+    [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
+    # steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
+  CRV_HYBRID = HondaBoschPlatformConfig(
+    "HONDA CR-V HYBRID 2019",
+    [HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)],
+    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    dbc_dict('honda_accord_2018_can_generated', None),
+  )
+  HRV_3G = HondaBoschPlatformConfig(
+    "HONDA HR-V 2023",
+    [HondaCarDocs("Honda HR-V 2023", "All")],
+    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
+    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
+  )
+  ACURA_RDX_3G = HondaBoschPlatformConfig(
+    "ACURA RDX 2020",
+    [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
+    dbc_dict('acura_rdx_2020_can_generated', None),
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
+  INSIGHT = HondaBoschPlatformConfig(
+    "HONDA INSIGHT 2019",
+    [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
+    dbc_dict('honda_insight_ex_2019_can_generated', None),
+  )
+  HONDA_E = HondaBoschPlatformConfig(
+    "HONDA E 2020",
+    [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
+    dbc_dict('acura_rdx_2020_can_generated', None),
+  )
+  CLARITY = HondaBoschPlatformConfig(
+    "HONDA CLARITY 2018",
+    [HondaCarDocs("Honda Clarity 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4052. * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.50, tireStiffnessFactor=1.),
+    dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
+  )
+
+  # Nidec Cars
+  ACURA_ILX = HondaNidecPlatformConfig(
+    "ACURA ILX 2016",
+    [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
+    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  CRV = HondaNidecPlatformConfig(
+    "HONDA CR-V 2016",
+    [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  CRV_EU = HondaNidecPlatformConfig(
+    "HONDA CR-V EU 2016",
+    [],  # Euro version of CRV Touring, don't show in docs
+    CRV.specs,
+    dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  FIT = HondaNidecPlatformConfig(
+    "HONDA FIT 2018",
+    [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
+    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  FREED = HondaNidecPlatformConfig(
+    "HONDA FREED 2020",
+    [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
+    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  HRV = HondaNidecPlatformConfig(
+    "HONDA HRV 2019",
+    [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
+    HRV_3G.specs,
+    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  ODYSSEY = HondaNidecPlatformConfig(
+    "HONDA ODYSSEY 2018",
+    [HondaCarDocs("Honda Odyssey 2018-20")],
+    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
+    dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
+  )
+  ODYSSEY_CHN = HondaNidecPlatformConfig(
+    "HONDA ODYSSEY CHN 2019",
+    [],  # Chinese version of Odyssey, don't show in docs
+    ODYSSEY.specs,
+    dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  ACURA_RDX = HondaNidecPlatformConfig(
+    "ACURA RDX 2018",
+    [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  PILOT = HondaNidecPlatformConfig(
+    "HONDA PILOT 2017",
+    [
+      HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+    ],
+    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  RIDGELINE = HondaNidecPlatformConfig(
+    "HONDA RIDGELINE 2017",
+    [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  CIVIC = HondaNidecPlatformConfig(
+    "HONDA CIVIC 2016",
+    [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
+    CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
+    dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
+  )
+

 HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xF112)
@@ -193,7 +325,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
      [StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.UDS_VERSION_RESPONSE],
      bus=0,
-      logging=True,
    ),
    # Bosch PT bus
    Request(
@@ -206,12 +337,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
  # We lose these ECUs without the comma power on these cars.
  # Note that we still attempt to match with them when they are present
  non_essential_ecus={
-    Ecu.programmedFuelInjection: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.srs: [CAR.ACCORD],
+    Ecu.eps: [CAR.ACCORD],
+    Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.shiftByWire: [CAR.ACCORD],  # existence correlates with transmission type for ICE
+    Ecu.hud: [CAR.ACCORD],  # existence correlates with trim level
  },
  extra_ecus=[
    # The only other ECU on PT bus accessible by camera on radarless Civic
@@ -219,43 +354,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
  ],
 )

-
-DBC = {
-  CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
-  CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
-  CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
-  CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
-  CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
-  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
-  CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
-  CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
-  CAR.CLARITY: dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
-}
-
 STEER_THRESHOLD = {
  # default is 1200, overrides go here
  CAR.ACURA_RDX: 400,
  CAR.CRV_EU: 400,
 }

-HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
-HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                                CAR.PILOT, CAR.RIDGELINE}
-HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
-HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
+HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
+HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
+HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
+HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
+
+
+DBC = CAR.create_dbc_map()