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Honda Clarity Port

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Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent a684059f2e
commit 150422e322
9 changed files with 481 additions and 6 deletions
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9
panda/board/safety/safety_honda.h
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@@ -82,6 +82,7 @@ const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
const uint16_t HONDA_PARAM_RADARLESS = 8;
const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16;
const uint16_t HONDA_PARAM_CLARITY = 32;
enum {
HONDA_BTN_NONE = 0,
@@ -97,6 +98,7 @@ bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
bool honda_bosch_long = false;
bool honda_bosch_radarless = false;
bool honda_clarity_brake_msg = false;
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
@@ -237,6 +239,9 @@ static void honda_rx_hook(CANPacket_t *to_push) {
bool honda_stock_aeb = GET_BIT(to_push, 29U) != 0U;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
if (honda_clarity_brake_msg) {
honda_stock_brake = (GET_BYTE(to_push, 6) << 2) + ((GET_BYTE(to_push, 7) >> 6) & 0x3U);
}
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
@@ -293,6 +298,9 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
// BRAKE: safety check (nidec)
if ((addr == 0x1FA) && (bus == bus_pt)) {
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
if (honda_clarity_brake_msg) {
honda_brake = (GET_BYTE(to_send, 6) << 2) + ((GET_BYTE(to_send, 7) >> 6) & 0x3U);
}
if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
tx = false;
}
@@ -382,6 +390,7 @@ static safety_config honda_nidec_init(uint16_t param) {
honda_bosch_long = false;
honda_bosch_radarless = false;
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
honda_clarity_brake_msg = GET_FLAG(param, HONDA_PARAM_CLARITY);
safety_config ret;
if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {