change HONDA_BOSCH_ALT_BRAKE_SIGNAL to CP.flags

selfdrive/car/honda/carstate.py

@@ -6,7 +6,8 @@ from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+# from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaFlags
 from selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -73,7 +74,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   else:
     checks.append((gearbox_msg, 100))
 
-  if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+  # if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+  if CP.flags & HondaFlags.HONDA_BOSCH_ALT_BRAKE_SIGNAL:
     signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
     checks.append(("BRAKE_MODULE", 50))
 
@@ -253,7 +255,8 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
-    if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    # if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if CP.flags & HondaFlags.HONDA_BOSCH_ALT_BRAKE_SIGNAL:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
       # brake switch has shown some single time step noise, so only considered when

selfdrive/car/honda/interface.py

@@ -3,7 +3,8 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+# from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -57,6 +58,10 @@ class CarInterface(CarInterfaceBase):
     if any(0x33DA in f for f in fingerprint.values()):
       ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
 
+    # Detect alternate user brake msg (0x1BE)
+    if any(0x1BE in f for f in fingerprint.values()):
+      ret.flags |= HondaFlags.HONDA_BOSCH_ALT_BRAKE_SIGNAL.value
+
     # Accord 1.5T CVT has different gearbox message
     if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
       ret.transmissionType = TransmissionType.cvt
@@ -277,7 +282,8 @@ class CarInterface(CarInterfaceBase):
       raise ValueError(f"unsupported car {candidate}")
 
     # These cars use alternate user brake msg (0x1BE)
-    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    # if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if ret.flags & HondaFlags.HONDA_BOSCH_ALT_BRAKE_SIGNAL:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
     # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)

selfdrive/car/honda/values.py

@@ -49,6 +49,7 @@ class CarControllerParams:
 class HondaFlags(IntFlag):
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
+  HONDA_BOSCH_ALT_BRAKE_SIGNAL = 2
 
 
 # Car button codes
@@ -1596,5 +1597,5 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_E
                                 CAR.PILOT, CAR.RIDGELINE}
 HONDA_BOSCH = {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, CAR.CIVIC_2022, CAR.HRV_3G}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
+# HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
 HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}