Honda: CANFD long control

opendbc/car/honda/carcontroller.py

@@ -149,7 +149,7 @@ def update(self, CC, CS, now_nanos):
     # tester present - w/ no response (keeps radar disabled)
     if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
       if self.frame % 10 == 0:
-        can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
+        can_sends.append(make_tester_present_msg(0x18DAB0F1, self.CAN.pt, suppress_response=True))
 
     # Send steering command.
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))

opendbc/car/honda/carstate.py

@@ -119,7 +119,10 @@ def update(self, can_parsers) -> structs.CarState:
       ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
     else:
       if self.CP.openpilotLongitudinalControl:
-        ret.accFaulted = bool(cp.vl[self.brake_error_msg]["BRAKE_ERROR_1"] or cp.vl[self.brake_error_msg]["BRAKE_ERROR_2"])
+        if (self.CP.carFingerprint in HONDA_BOSCH_CANFD) and (self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE):
+          ret.accFaulted = bool(cp.vl["BRAKE_MODULE"]["CRUISE_FAULT"])
+        else:
+          ret.accFaulted = bool(cp.vl[self.brake_error_msg]["BRAKE_ERROR_1"] or cp.vl[self.brake_error_msg]["BRAKE_ERROR_2"])
 
       # Log non-critical stock ACC/LKAS faults if Nidec (camera)
       if self.CP.carFingerprint not in HONDA_BOSCH:

opendbc/car/honda/interface.py

@@ -49,8 +49,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       # WARNING: THIS DISABLES AEB!
       # If Bosch radarless, this blocks ACC messages from the camera
       # TODO: get radar disable working on Bosch CANFD
-      ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
-      ret.openpilotLongitudinalControl = alpha_long and (candidate not in HONDA_BOSCH_CANFD)
+      ret.alphaLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = alpha_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]

opendbc/safety/modes/honda.h

@@ -331,14 +331,17 @@ static safety_config honda_bosch_init(uint16_t param) {
   static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
                                                   {0x30C, 0, 8, .check_relay = true}};  // Bosch radarless w/ gas and brakes
 
-  static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
+  static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};  // Bosch CAN-FD
 
+  static CanMsg HONDA_CANFD_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x1DF, 0, 8, .check_relay = false}, {0x1EF, 0, 8, .check_relay = false},
+                                              {0x30C, 0, 8, .check_relay = false}, {0x33D, 0, 8, .check_relay = true},  {0x39F, 0, 8, .check_relay = false},
+                                              {0x18DAB0F1, 0, 8, .check_relay = false}};  // Bosch CAN-FD w/ gas and brakes
 
   const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
   const uint16_t HONDA_PARAM_RADARLESS = 8;
   const uint16_t HONDA_PARAM_BOSCH_CANFD = 16;
 
-  // Bosch radarless has the powertrain bus on bus 0
+  // Bosch radarless and CAN-FD have the powertrain bus on bus 0
   static RxCheck honda_bosch_pt0_rx_checks[] = {
     HONDA_COMMON_RX_CHECKS(0)
   };
@@ -393,7 +396,11 @@ static safety_config honda_bosch_init(uint16_t param) {
       SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret);
     }
   } else if (honda_bosch_canfd) {
-    SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
+    if (honda_bosch_long) {
+      SET_TX_MSGS(HONDA_CANFD_LONG_TX_MSGS, ret);
+    } else {
+      SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
+    }
   } else {
     if (honda_bosch_long) {
       SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret);

opendbc/safety/tests/common.py

@@ -915,6 +915,10 @@ def test_tx_hook_on_wrong_safety_mode(self):
             if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaBoschRadarless'):
               tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
 
+            # Volkswagen MQB and Honda Bosch CAN-FD ACC HUD messages overlap
+            if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaBoschCANFD'):
+              tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
+
             # TODO: Temporary, should be fixed in panda firmware, safety_honda.h
             if attr.startswith('TestHonda'):
               # exceptions for common msgs across different hondas

opendbc/safety/tests/test_honda.py

@@ -26,6 +26,8 @@ class Btn:
 #    * Bosch with Longitudinal Support
 #  * Bosch Radarless
 #    * Bosch Radarless with Longitudinal Support
+#  * Bosch CAN-FD
+#    * Bosch CAN-FD with Longitudinal Support
 
 
 class HondaButtonEnableBase(common.CarSafetyTest):
@@ -562,7 +564,7 @@ def test_spam_cancel_safety_check(self):
 
 
 class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
-  """Base class for CANFD Honda Bosch"""
+  """Base class for CAN-FD Honda Bosch"""
   PT_BUS = 0
   STEER_BUS = 0
   BUTTONS_BUS = 0
@@ -578,7 +580,7 @@ def setUp(self):
 
 class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
   """
-    Covers the Honda Bosch CANFD safety mode with stock longitudinal
+    Covers the Honda Bosch CAN-FD safety mode with stock longitudinal
   """
 
   def setUp(self):
@@ -589,7 +591,7 @@ def setUp(self):
 
 class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """
-    Covers the Honda Bosch CANFD safety mode with stock longitudinal and an alternate brake message
+    Covers the Honda Bosch CAN-FD safety mode with stock longitudinal and an alternate brake message
   """
 
   def setUp(self):
@@ -598,5 +600,24 @@ def setUp(self):
     self.safety.init_tests()
 
 
+class TestHondaBoschCANFDLongSafety(TestHondaBoschLongSafety, TestHondaBoschCANFDSafetyBase):
+  """
+    Covers the Honda Bosch CAN-FD safety mode with longitudinal control
+  """
+
+  PT_BUS = 0
+  STEER_BUS = 0
+  BUTTONS_BUS = 0
+
+  TX_MSGS = [[0xE4, 0], [0x1DF, 0],  [0x1EF, 0], [0x30C, 0], [0x33D, 0],  [0x39F, 0], [0x18DAB0F1, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}  # STEERING_CONTROL / LKAS_HUD
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_LONG)
+    self.safety.init_tests()
+
+
 if __name__ == "__main__":
   unittest.main()