From 0f530be2b47aa76b4750004ac8cc472f2a5f180f Mon Sep 17 00:00:00 2001
From: Chris Souers <csouers@gmail.com>
Date: Tue, 28 Apr 2020 17:12:46 -0400
Subject: [PATCH] Static 0xe5 on Honda Bosch (#1420)

* Recreate a static 0xe5 and send to radar

* remove unneeded declaration

* Update ref_commit
---
 selfdrive/car/honda/carcontroller.py     |  3 +++
 selfdrive/car/honda/hondacan.py          | 11 +++++++++++
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 3da8a7b356..a09dffce30 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -155,6 +155,9 @@ class CarController():
       can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.isPandaBlack, CS.stock_hud))
 
     if CS.CP.radarOffCan:
+      if (frame % 2) == 0:
+        idx = frame // 2
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack))
       # 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, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 38d099fdce..88c7e63945 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -44,6 +44,17 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i
   return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
 
 
+def create_bosch_supplemental_1(packer, car_fingerprint, idx, has_relay):
+  # non-active params
+  values = {
+    "BYTE_0": 0x04,
+    "BYTE_2": 0x80,
+    "BYTE_3": 0x10,
+  }
+  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
+
+
 def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay, stock_hud):
   commands = []
   bus_pt = get_pt_bus(car_fingerprint, has_relay)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f342be5330..6b8e485a2e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-783699128dfaeae66ecfd6ecd57ee19fe6d6e116
\ No newline at end of file
+b33259e2dae9852c58b0507dbb98fb01d8b884b8