From 1792ebea6de95cc7578715bf4dbc5632ff51d3a1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 17 Nov 2021 17:30:50 -0800
Subject: [PATCH] Honda: handle ACC state consistent with ISO 15622:2018
 (#22958)

old-commit-hash: 14651866c2ec1dded8fae7ae3c9109acf2e79985
---
 panda                            | 2 +-
 selfdrive/car/honda/carstate.py  | 5 ++---
 selfdrive/car/honda/interface.py | 6 +++++-
 selfdrive/car/honda/values.py    | 2 ++
 4 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/panda b/panda
index 571512a392..fec966d6fd 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 571512a392396271e54469c562b2ba08cbb44bfc
+Subproject commit fec966d6fd099dc140997978765733734fe6d1c3
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 6dc4d85da8..affe377276 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/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"]
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 1f49137eda..63e3f05770 100755
--- a/selfdrive/car/honda/interface.py
+++ b/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
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 70ff7e006c..a50b8ce154 100644
--- a/selfdrive/car/honda/values.py
+++ b/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])