Honda - electric brake booster refactor

opendbc/car/honda/carstate.py

@@ -168,7 +168,7 @@ def update(self, can_parsers) -> structs.CarState:
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
-    if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
+    if self.CP.flags & HondaFlags.BOSCH_ELECTRIC_BRAKE_BOOSTER:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
       # brake switch has shown some single time step noise, so only considered when

opendbc/car/honda/interface.py

@@ -195,11 +195,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
-      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
+    if 0x1BE in fingerprint[CAN.pt]:
+      ret.flags |= HondaFlags.BOSCH_ELECTRIC_BRAKE_BOOSTER.value
 
-    if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
-      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
+    if ret.flags & HondaFlags.BOSCH_ELECTRIC_BRAKE_BOOSTER:
+      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ELECTRIC_BRAKE_BOOSTER.value
     if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:

opendbc/car/honda/values.py

@@ -51,7 +51,7 @@ def __init__(self, CP):
 
 
 class HondaSafetyFlags(IntFlag):
-  ALT_BRAKE = 1
+  ELECTRIC_BRAKE_BOOSTER = 1
   BOSCH_LONG = 2
   NIDEC_ALT = 4
   RADARLESS = 8
@@ -62,7 +62,7 @@ class HondaFlags(IntFlag):
   # Detected flags
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
-  BOSCH_ALT_BRAKE = 2
+  BOSCH_ELECTRIC_BRAKE_BOOSTER = 2
 
   # Static flags
   BOSCH = 4
@@ -209,7 +209,6 @@ class CAR(Platforms):
     # steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
-    flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
   HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
     [
@@ -240,7 +239,6 @@ class CAR(Platforms):
     [HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
     {Bus.pt: 'acura_rdx_2020_can_generated'},
-    flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
   HONDA_INSIGHT = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
@@ -269,7 +267,7 @@ class CAR(Platforms):
     [HondaCarDocs("Honda Odyssey 2021-26", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
     CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41),
     {Bus.pt: 'acura_rdx_2020_can_generated'},
-    flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
+    flags=HondaFlags.BOSCH_ALT_RADAR,
   )
   ACURA_TLX_2G = HondaBoschPlatformConfig(
     [HondaCarDocs("Acura TLX 2021", "All")],

opendbc/safety/modes/honda.h

@@ -13,8 +13,8 @@
   HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                                                        \
   {.msg = {{0x326, (pt_bus), 8, 10U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  /* SCM_FEEDBACK */  \
 
-// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
-#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus)                                                                                              \
+// Electric brake booster message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0)
+#define HONDA_ELEC_BRAKE_ADDR_CHECK(pt_bus)                                                                                              \
   {.msg = {{0x1BE, (pt_bus), 3, 50U, .max_counter = 3U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  /* BRAKE_MODULE */  \
 
 enum {
@@ -27,7 +27,7 @@ enum {
 
 static int honda_brake = 0;
 static bool honda_brake_switch_prev = false;
-static bool honda_alt_brake_msg = false;
+static bool honda_elec_brake_msg = false;
 static bool honda_fwd_brake = false;
 static bool honda_bosch_long = false;
 static bool honda_bosch_radarless = false;
@@ -120,13 +120,13 @@ static void honda_rx_hook(const CANPacket_t *msg) {
     cruise_button_prev = button;
   }
 
-  // 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
-  // accord, crv: 0x1BE
-  if (honda_alt_brake_msg) {
+  // user brake signal on 0x17C reports applied brake from computer brake on models
+  // with an electric brake booster, 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.
+  // without electric brake booster: 0x17C
+  // with electric brake booster: 0x1BE
+  if (honda_elec_brake_msg) {
     if (msg->addr == 0x1BEU) {
       brake_pressed = GET_BIT(msg, 4U);
     }
@@ -285,7 +285,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   honda_brake = 0;
   honda_brake_switch_prev = false;
   honda_fwd_brake = false;
-  honda_alt_brake_msg = false;
+  honda_elec_brake_msg = false;
   honda_bosch_long = false;
   honda_bosch_radarless = false;
   honda_bosch_canfd = false;
@@ -334,7 +334,7 @@ static safety_config honda_bosch_init(uint16_t param) {
   static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
 
 
-  const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
+  const uint16_t HONDA_PARAM_ELEC_BRAKE = 1;
   const uint16_t HONDA_PARAM_RADARLESS = 8;
   const uint16_t HONDA_PARAM_BOSCH_CANFD = 16;
 
@@ -343,27 +343,27 @@ static safety_config honda_bosch_init(uint16_t param) {
     HONDA_COMMON_RX_CHECKS(0)
   };
 
-  static RxCheck honda_bosch_pt0_alt_brake_rx_checks[] = {
+  static RxCheck honda_bosch_pt0_elec_brake_rx_checks[] = {
     HONDA_COMMON_RX_CHECKS(0)
-    HONDA_ALT_BRAKE_ADDR_CHECK(0)
+    HONDA_ELEC_BRAKE_ADDR_CHECK(0)
   };
 
   // Bosch has powertrain on bus 1, verified 0x1A6 does not exist
   static RxCheck honda_bosch_pt1_rx_checks[] = {
     HONDA_COMMON_RX_CHECKS(1)
   };
 
-  static RxCheck honda_bosch_pt1_alt_brake_rx_checks[] = {
+  static RxCheck honda_bosch_pt1_elec_brake_rx_checks[] = {
     HONDA_COMMON_RX_CHECKS(1)
-    HONDA_ALT_BRAKE_ADDR_CHECK(1)
+    HONDA_ELEC_BRAKE_ADDR_CHECK(1)
   };
 
   honda_hw = HONDA_BOSCH;
   honda_brake_switch_prev = false;
   honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
   honda_bosch_canfd = GET_FLAG(param, HONDA_PARAM_BOSCH_CANFD);
   // Checking for alternate brake override from safety parameter
-  honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
+  honda_elec_brake_msg = GET_FLAG(param, HONDA_PARAM_ELEC_BRAKE);
 
   // radar disabled so allow gas/brakes
 #ifdef ALLOW_DEBUG
@@ -373,14 +373,14 @@ static safety_config honda_bosch_init(uint16_t param) {
 
   safety_config ret;
   if (honda_bosch_radarless || honda_bosch_canfd) {
-    if (honda_alt_brake_msg) {
-      SET_RX_CHECKS(honda_bosch_pt0_alt_brake_rx_checks, ret);
+    if (honda_elec_brake_msg) {
+      SET_RX_CHECKS(honda_bosch_pt0_elec_brake_rx_checks, ret);
     } else {
       SET_RX_CHECKS(honda_bosch_pt0_rx_checks, ret);
     }
   } else {
-   if (honda_alt_brake_msg) {
-     SET_RX_CHECKS(honda_bosch_pt1_alt_brake_rx_checks, ret);
+   if (honda_elec_brake_msg) {
+     SET_RX_CHECKS(honda_bosch_pt1_elec_brake_rx_checks, ret);
    } else {
      SET_RX_CHECKS(honda_bosch_pt1_rx_checks, ret);
    }

opendbc/safety/tests/libsafety/libsafety_py.py

@@ -74,7 +74,7 @@ class CANPacket:
 
 void set_honda_fwd_brake(bool c);
 bool get_honda_fwd_brake(void);
-void set_honda_alt_brake_msg(bool c);
+void set_honda_elec_brake_msg(bool c);
 void set_honda_bosch_long(bool c);
 int get_honda_hw(void);
 """)

opendbc/safety/tests/libsafety/safety.c

@@ -171,8 +171,8 @@ int get_angle_meas_max(void){
 
 // ***** car specific helpers *****
 
-void set_honda_alt_brake_msg(bool c){
-  honda_alt_brake_msg = c;
+void set_honda_elec_brake_msg(bool c){
+  honda_elec_brake_msg = c;
 }
 
 void set_honda_bosch_long(bool c){

opendbc/safety/tests/test_honda.py

@@ -376,7 +376,7 @@ def setUp(self):
     self.packer = CANPackerSafety("honda_civic_hatchback_ex_2017_can_generated")
     self.safety = libsafety_py.libsafety
 
-  def _alt_brake_msg(self, brake):
+  def _elec_brake_msg(self, brake):
     values = {"BRAKE_PRESSED": brake, "COUNTER": self.cnt_brake % 4}
     self.__class__.cnt_brake += 1
     return self.packer.make_can_msg_safety("BRAKE_MODULE", self.PT_BUS, values)
@@ -394,36 +394,36 @@ def test_spam_cancel_safety_check(self):
     self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=self.BUTTONS_BUS)))
 
 
-class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
+class TestHondaBoschElecBrakeSafetyBase(TestHondaBoschSafetyBase):
   """
-    Base Bosch safety test class with an alternate brake message
+    Base Bosch safety test class with electric brake booster message
   """
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.ALT_BRAKE)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.ELECTRIC_BRAKE_BOOSTER)
     self.safety.init_tests()
 
   def _user_brake_msg(self, brake):
-    return self._alt_brake_msg(brake)
+    return self._elec_brake_msg(brake)
 
-  def test_alt_brake_rx_hook(self):
-    self.safety.set_honda_alt_brake_msg(1)
+  def test_elec_brake_rx_hook(self):
+    self.safety.set_honda_elec_brake_msg(1)
     self.safety.set_controls_allowed(1)
-    msg = self._alt_brake_msg(0)
+    msg = self._elec_brake_msg(0)
     self.assertTrue(self._rx(msg))
     msg[0].data[2] = msg[0].data[2] & 0xF0  # invalidate checksum
     self.assertFalse(self._rx(msg))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_alt_disengage_on_brake(self):
-    self.safety.set_honda_alt_brake_msg(1)
+  def test_elec_disengage_on_brake(self):
+    self.safety.set_honda_elec_brake_msg(1)
     self.safety.set_controls_allowed(1)
-    self._rx(self._alt_brake_msg(1))
+    self._rx(self._elec_brake_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
-    self.safety.set_honda_alt_brake_msg(0)
+    self.safety.set_honda_elec_brake_msg(0)
     self.safety.set_controls_allowed(1)
-    self._rx(self._alt_brake_msg(1))
+    self._rx(self._elec_brake_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
 
 
@@ -437,9 +437,9 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestHondaBoschAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschAltBrakeSafetyBase):
+class TestHondaBoschElecBrakeSafety(HondaPcmEnableBase, TestHondaBoschElecBrakeSafetyBase):
   """
-    Covers the Honda Bosch safety mode with stock longitudinal and an alternate brake message
+    Covers the Honda Bosch safety mode with stock longitudinal and an electric brake booster message
   """
 
 
@@ -525,14 +525,14 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
+class TestHondaBoschRadarlessElecBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschElecBrakeSafetyBase):
   """
-    Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message
+    Covers the Honda Bosch Radarless safety mode with stock longitudinal and an electric brake booster message
   """
 
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS | HondaSafetyFlags.ALT_BRAKE)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS | HondaSafetyFlags.ELECTRIC_BRAKE_BOOSTER)
     self.safety.init_tests()
 
 
@@ -587,14 +587,14 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschAltBrakeSafetyBase):
+class TestHondaBoschCANFDElecBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschElecBrakeSafetyBase):
   """
-    Covers the Honda Bosch CANFD safety mode with stock longitudinal and an alternate brake message
+    Covers the Honda Bosch CANFD safety mode with stock longitudinal and an electric brake booster message
   """
 
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.ALT_BRAKE)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.ELECTRIC_BRAKE_BOOSTER)
     self.safety.init_tests()