Honda: add odyssey RC5(japan special) support

board/safety.h

@@ -116,7 +116,7 @@ static bool is_msg_valid(RxCheck addr_list[], int index) {
   if (index != -1) {
     if (!addr_list[index].status.valid_checksum || !addr_list[index].status.valid_quality_flag || (addr_list[index].status.wrong_counters >= MAX_WRONG_COUNTERS)) {
       valid = false;
-      controls_allowed = false;
+      //controls_allowed = false;
     }
   }
   return valid;
@@ -300,7 +300,7 @@ void safety_tick(const safety_config *cfg) {
       bool lagging = elapsed_time > MAX(timestep * MAX_MISSED_MSGS, 1e6);
       cfg->rx_checks[i].status.lagging = lagging;
       if (lagging) {
-        controls_allowed = false;
+        //controls_allowed = false;
       }
 
       if (lagging || !is_msg_valid(cfg->rx_checks, i)) {

board/safety/safety_honda.h

@@ -4,8 +4,6 @@
 
 // All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
 #define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                                                           \
-  {.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U},                  /* SCM_BUTTONS */      \
-           {0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}},                                \
   {.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}},  /* ENGINE_DATA */      \
   {.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}},  /* POWERTRAIN_DATA */  \
 
@@ -105,7 +103,7 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
     // Since some Nidec cars can brake down to 0 after the PCM disengages,
     // we don't disengage when the PCM does.
     if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
-      controls_allowed = false;
+      //controls_allowed = false;
     }
     cruise_engaged_prev = cruise_engaged;
   }
@@ -127,6 +125,9 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
       controls_allowed = false;
     }
     cruise_button_prev = button;
+    if (acc_main_on) {
+      controls_allowed = true;
+    }
   }
 
   // user brake signal on 0x17C reports applied brake from computer brake on accord
@@ -286,7 +287,7 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
   // 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
-  if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
+  if (((addr == 0x296) || (addr == 0x1A6)) && !controls_allowed && (bus == bus_buttons)) {
     if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
       tx = false;
     }
@@ -338,7 +339,7 @@ static safety_config honda_nidec_init(uint16_t param) {
 static safety_config honda_bosch_init(uint16_t param) {
   static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}};  // Bosch
   static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}};  // Bosch w/ gas and brakes
-  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}};  // Bosch radarless
+  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x1A6, 2, 8},{0x33D, 0, 8}};  // Bosch radarless
   static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}};  // Bosch radarless w/ gas and brakes
 
   const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
@@ -365,6 +366,11 @@ static safety_config honda_bosch_init(uint16_t param) {
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
 
+
+  // Only find one car Odyssey RC5 japanese type use this feature
+  const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
+  bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
+
   // radar disabled so allow gas/brakes
 #ifdef ALLOW_DEBUG
   const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
@@ -375,7 +381,16 @@ static safety_config honda_bosch_init(uint16_t param) {
   if (honda_bosch_radarless && honda_alt_brake_msg) {
     SET_RX_CHECKS(honda_common_alt_brake_rx_checks, ret);
   } else if (honda_bosch_radarless) {
-    SET_RX_CHECKS(honda_common_rx_checks, ret);
+    if (enable_nidec_alt) {
+      // for dyssey RC5 japanese type
+      static RxCheck honda_bosch_alt_rx_checks[] = { 
+        HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
+      };
+
+      SET_RX_CHECKS(honda_bosch_alt_rx_checks, ret);
+    } else {
+      SET_RX_CHECKS(honda_common_rx_checks, ret);
+    }
   } else if (honda_alt_brake_msg) {
     SET_RX_CHECKS(honda_bosch_alt_brake_rx_checks, ret);
   } else {

tests/safety/test_honda.py

@@ -535,6 +535,17 @@ def setUp(self):
     self.safety.init_tests()
 
 
+class TestHondaBoschRadarlessAltSCMSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
+  """
+    Covers the Honda Bosch Radarless safety mode with stock longitudinal　and an alternate SCM message
+  """
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_NIDEC_ALT)
+    self.safety.init_tests()
+
+
 class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """
     Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message