openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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// board enforces
// in-state
// accel set/resume
// out-state
// cancel button
// accel rising edge
// brake rising edge
// brake > 0mph
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
int honda_brake = 0;
int honda_gas_prev = 0;
bool honda_brake_pressed_prev = false;
bool honda_moving = false;
bool honda_bosch_hardware = false;
bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
int bus = GET_BUS(to_push);
// sample speed
if (addr == 0x158) {
// first 2 bytes
honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// state machine to enter and exit controls
// 0x1A6 for the ILX, 0x296 for the Civic Touring
if ((addr == 0x1A6) || (addr == 0x296)) {
int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
switch (button) {
case 2: // cancel
controls_allowed = 0;
break;
case 3: // set
case 4: // resume
controls_allowed = 1;
break;
default:
break; // any other button is irrelevant
}
}
// user brake signal on 0x17C reports applied brake from computer brake on accord
// and crv, which prevents the usual brake safety from working correctly. these
// cars have a signal on 0x1BE which only detects user's brake being applied so
// in these cases, this is used instead.
// most hondas: 0x17C bit 53
// accord, crv: 0x1BE bit 4
// exit controls on rising edge of brake press or on brake press when speed > 0
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
if (is_user_brake_msg) {
bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
controls_allowed = 0;
}
honda_brake_pressed_prev = brake_pressed;
}
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press if no interceptor
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
int gas = GET_BYTE(to_push, 0);
if (gas && !(honda_gas_prev) && long_controls_allowed) {
controls_allowed = 0;
}
honda_gas_prev = gas;
}
}
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
honda_fwd_brake = false;
} else if (honda_stock_brake >= honda_brake) {
honda_fwd_brake = true;
} else {
// Leave honda forward brake as is
}
}
}
// all commands: gas, brake and steering
// if controls_allowed and no pedals pressed
// allow all commands up to limit
// else
// block all commands that produce actuation
static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(honda_brake_pressed_prev && honda_moving);
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check
if ((addr == 0x1FA) && (bus == 0)) {
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
if (!current_controls_allowed || !long_controls_allowed) {
if (honda_brake != 0) {
tx = 0;
}
}
if (honda_brake > 255) {
tx = 0;
}
if (honda_fwd_brake) {
tx = 0;
}
}
// STEER: safety check
if ((addr == 0xE4) || (addr == 0x194)) {
if (!current_controls_allowed) {
bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
if (steer_applied) {
tx = 0;
}
}
}
// GAS: safety check
if (addr == 0x200) {
if (!current_controls_allowed || !long_controls_allowed) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
}
}
// 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
int bus_pt = ((hw_type == HW_TYPE_BLACK_PANDA) && honda_bosch_hardware)? 1 : 0;
if ((addr == 0x296) && honda_bosch_hardware &&
!current_controls_allowed && (bus == bus_pt)) {
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
tx = 0;
}
}
// 1 allows the message through
return tx;
}
static void honda_init(int16_t param) {
UNUSED(param);
controls_allowed = 0;
honda_bosch_hardware = false;
honda_alt_brake_msg = false;
}
static void honda_bosch_init(int16_t param) {
controls_allowed = 0;
honda_bosch_hardware = true;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = (param == 1) ? true : false;
}
static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// fwd from car to camera. also fwd certain msgs from camera to car
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
// 0x39f is radar hud
int bus_fwd = -1;
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
// block stock lkas messages and stock acc messages (if OP is doing ACC)
int addr = GET_ADDR(to_fwd);
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
bool is_brake_msg = addr == 0x1FA;
bool block_fwd = is_lkas_msg ||
(is_acc_hud_msg && long_controls_allowed) ||
(is_brake_msg && long_controls_allowed && !honda_fwd_brake);
if (!block_fwd) {
bus_fwd = 0;
}
}
return bus_fwd;
}
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int bus_fwd = -1;
int bus_rdr_cam = (hw_type == HW_TYPE_BLACK_PANDA) ? 2 : 1; // radar bus, camera side
int bus_rdr_car = (hw_type == HW_TYPE_BLACK_PANDA) ? 0 : 2; // radar bus, car side
if (bus_num == bus_rdr_car) {
bus_fwd = bus_rdr_cam;
}
if (bus_num == bus_rdr_cam) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
}
}
return bus_fwd;
}
const safety_hooks honda_hooks = {
.init = honda_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_fwd_hook,
};
const safety_hooks honda_bosch_hooks = {
.init = honda_bosch_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_bosch_fwd_hook,
};