Honda: add odyssey RC5(japan special) support

board/safety/safety_honda.h

@@ -37,6 +37,7 @@ static bool honda_alt_brake_msg = false;
 static bool honda_fwd_brake = false;
 static bool honda_bosch_long = false;
 static bool honda_bosch_radarless = false;
+static bool honda_bosch_scm_alt = false;
 typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
 static HondaHw honda_hw = HONDA_NIDEC;
 
@@ -87,8 +88,18 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
 
   // check ACC main state
   // 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
-  if ((addr == 0x326) || (addr == 0x1A6)) {
-    acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
+  // Odyssey RC5 japanese type use 0x1a6 for scm_buttons and main_on signal
+  // But 0x326 also exist. So we need to ignore it.
+  if (addr == 0x1A6) {
+    honda_bosch_scm_alt = true;
+    acc_main_on = GET_BIT(to_push, 47U);
+    if (!acc_main_on) {
+      controls_allowed = false;
+    }
+  } 
+
+  if ((addr == 0x326) && (!honda_bosch_scm_alt)) {
+    acc_main_on = GET_BIT(to_push, 28U);
     if (!acc_main_on) {
       controls_allowed = false;
     }
@@ -127,6 +138,7 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
       controls_allowed = false;
     }
     cruise_button_prev = button;
+
   }
 
   // user brake signal on 0x17C reports applied brake from computer brake on accord
@@ -286,7 +298,7 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
   // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
+  if (((addr == 0x296) || (addr == 0x1A6)) && !controls_allowed && (bus == bus_buttons)) {
     if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
       tx = false;
     }
@@ -314,6 +326,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   honda_alt_brake_msg = false;
   honda_bosch_long = false;
   honda_bosch_radarless = false;
+  honda_bosch_scm_alt = false;
 
   safety_config ret;
 
@@ -338,7 +351,7 @@ static safety_config honda_nidec_init(uint16_t param) {
 static safety_config honda_bosch_init(uint16_t param) {
   static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}};  // Bosch
   static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}};  // Bosch w/ gas and brakes
-  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}};  // Bosch radarless
+  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x1A6, 2, 8},{0x33D, 0, 8}};  // Bosch radarless
   static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}};  // Bosch radarless w/ gas and brakes
 
   const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
@@ -364,6 +377,7 @@ static safety_config honda_bosch_init(uint16_t param) {
   honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
+  honda_bosch_scm_alt = false;
 
   // radar disabled so allow gas/brakes
 #ifdef ALLOW_DEBUG

tests/safety/test_honda.py

@@ -535,6 +535,17 @@ def setUp(self):
     self.safety.init_tests()
 
 
+class TestHondaBoschRadarlessAltSCMSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
+  """
+    Covers the Honda Bosch Radarless safety mode with stock longitudinal　and an alternate SCM message
+  """
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_NIDEC_ALT)
+    self.safety.init_tests()
+
+
 class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message