Honda fwd fixes (#5)

- fix chime forwarding
- forward radar hud msg from stock
- no EON chime during stock fcw

panda/VERSION

@@ -1 +1 @@
-v1.6.9
+v1.7.0

panda/board/safety/safety_honda.h

@@ -6,7 +6,7 @@
 //      accel rising edge
 //      brake rising edge
 //      brake > 0mph
-const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}, {0x39F, 0}};
+const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
 const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}};  // Bosch Harness
 const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}};  // Bosch Giraffe
 const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;  // ratio between offset and gain from dbc file
@@ -216,7 +216,6 @@ 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 (!relay_malfunction) {
@@ -227,7 +226,7 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
       // 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_acc_hud_msg = addr == 0x30C;
       bool is_brake_msg = addr == 0x1FA;
       bool block_fwd = is_lkas_msg ||
                        (is_acc_hud_msg && long_controls_allowed) ||

panda/tests/safety/test_honda.py

@@ -8,7 +8,7 @@
 MAX_BRAKE = 255
 
 INTERCEPTOR_THRESHOLD = 328
-TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0]]
+TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
 
 class TestHondaSafety(unittest.TestCase):
   @classmethod
@@ -253,7 +253,7 @@ def test_fwd_hook(self):
         self.safety.set_long_controls_allowed(l)
         blocked_msgs = [0xE4, 0x194, 0x33D]
         if l:
-          blocked_msgs += [0x30C, 0x39F]
+          blocked_msgs += [0x30C]
           if not f:
             blocked_msgs += [0x1FA]
         for b in buss:

panda/tests/safety_replay/test_safety_replay.py

@@ -11,7 +11,7 @@
 
 # (route, safety mode, param)
 logs = [
-  ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
+  ("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
   ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
   ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
   ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD

selfdrive/car/honda/hondacan.py

@@ -1,5 +1,5 @@
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, HONDA_BOSCH
+from selfdrive.car.honda.values import HONDA_BOSCH
 
 
 def get_pt_bus(car_fingerprint, has_relay):
@@ -25,7 +25,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "COMPUTER_BRAKE_REQUEST": brake_rq,
     "SET_ME_1": 1,
     "BRAKE_LIGHTS": brakelights,
-    "CHIME": stock_brake["CHIME"],  # chime issued when disabling FCM
+    "CHIME": stock_brake["CHIME"] if fcw else 0,  # send the chime for stock fcw
     "FCW": fcw << 1,  # TODO: Why are there two bits for fcw?
     "AEB_REQ_1": 0,
     "AEB_REQ_2": 0,
@@ -76,14 +76,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
   }
   commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
 
-  if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
-    radar_hud_values = {
-      'ACC_ALERTS': hud.acc_alert,
-      'LEAD_SPEED': 0x1fe,  # What are these magic values
-      'LEAD_STATE': 0x7,
-      'LEAD_DISTANCE': 0x1e,
-    }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
   return commands
 
 

selfdrive/controls/controlsd.py

@@ -257,10 +257,14 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   # add eventual driver distracted events
   events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
 
-  # send FCW alert if triggered by planner
-  if plan.fcw or CS.stockFcw:
+  if plan.fcw:
+    # send FCW alert if triggered by planner
     AM.add(frame, "fcw", enabled)
 
+  elif CS.stockFcw:
+    # send a silent alert when stock fcw triggers, since the car is already beeping
+    AM.add(frame, "fcwStock", enabled)
+
   # State specific actions
 
   if state in [State.preEnabled, State.disabled]:

selfdrive/controls/lib/alerts.py

@@ -80,6 +80,13 @@ def __gt__(self, alert2):
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
 
+  Alert(
+      "fcwStock",
+      "BRAKE!",
+      "Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW
+
   Alert(
       "steerSaturated",
       "TAKE CONTROL",

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b2364d6239bca0a8caaf11f0433bf766c66e15a4
+89304bdcab73fa43a8dd39cab93bc4ea4c9cbbdb