Honda: handle ACC state consistent with ISO 15622:2018 (#22958)

panda

@@ -1 +1 @@
-Subproject commit 571512a392396271e54469c562b2ba08cbb44bfc
+Subproject commit fec966d6fd099dc140997978765733734fe6d1c3

selfdrive/car/honda/carstate.py

@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_NIDEC_ALT_MAIN, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 TransmissionType = car.CarParams.TransmissionType
 
@@ -161,8 +161,7 @@ class CarState(CarStateBase):
       self.gearbox_msg = "GEARBOX_15T"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
-    if CP.carFingerprint in (CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV,
-                             CAR.ODYSSEY_CHN, CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE):
+    if CP.carFingerprint in HONDA_NIDEC_ALT_MAIN:
       self.main_on_sig_msg = "SCM_BUTTONS"
 
     self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_MAIN, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -299,6 +299,10 @@ class CarInterface(CarInterfaceBase):
     if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
+    # These cars use an alternate main on message
+    if candidate in HONDA_NIDEC_ALT_MAIN:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
+
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 

selfdrive/car/honda/values.py

@@ -1365,5 +1365,7 @@ SPEED_FACTOR = {
 }
 
 HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
+HONDA_NIDEC_ALT_MAIN = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
+                            CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
 HONDA_BOSCH = set([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])
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])