From f7f899f05d63b81f0b5a537b196463cb15202a14 Mon Sep 17 00:00:00 2001
From: kegman <8837066+kegman@users.noreply.github.com>
Date: Tue, 5 Nov 2019 22:57:47 -0500
Subject: [PATCH] Bosch Gas Press (#243)

* Disabled gas press disengage for Bosch Honda

* Disable gasPressed for Bosch in interface.py

* Fix indent for interface.py gasPress Bosch disable

* allow gas disengagement for CR-V (#237)

* allow disengagement for CR-V (#238)

already tested
---
 panda/board/safety/safety_honda.h | 8 +++++---
 selfdrive/car/honda/interface.py  | 9 +++++++--
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index 4399b07857668a..98216655cc1bee 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -18,6 +18,7 @@ bool honda_moving = false;
 bool honda_bosch_hardware = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
+bool bosch_ACC_allowed = false;
 
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
@@ -81,7 +82,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if (!gas_interceptor_detected) {
     if (addr == 0x17C) {
       int gas = GET_BYTE(to_push, 0);
-      if (gas && !(honda_gas_prev) && long_controls_allowed) {
+      if (gas && !(honda_gas_prev) && long_controls_allowed && !(bosch_ACC_allowed)) {
         controls_allowed = 0;
       }
       honda_gas_prev = gas;
@@ -146,7 +147,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *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) ||
+  int pedal_pressed = (!bosch_ACC_allowed && honda_gas_prev) || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
                       (honda_brake_pressed_prev && honda_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
@@ -168,6 +169,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
+    bosch_ACC_allowed = honda_bosch_hardware;
     if (!current_controls_allowed) {
       bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
       if (steer_applied) {
@@ -179,7 +181,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // GAS: safety check
   if (addr == 0x200) {
     if (!current_controls_allowed || !long_controls_allowed) {
-      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
+      if (!bosch_ACC_allowed && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1))) {
         tx = 0;
       }
     }
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 14702a8913ad8e..53faa2e1637141 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -97,6 +97,11 @@ def __init__(self, CP, CarController):
       self.compute_gb = get_compute_gb_acura()
     else:
       self.compute_gb = compute_gb_honda
+      
+    if self.CS.CP.carFingerprint in HONDA_BOSCH:
+      self.bosch_honda = True
+    else:
+      self.bosch_honda = False
 
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -545,11 +550,11 @@ def update(self, c, can_strings):
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
 
     # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
+    if (ret.gasPressed and not self.gas_pressed_prev and not self.bosch_honda) or \
        (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
+    if ret.gasPressed and not self.bosch_honda:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # it can happen that car cruise disables while comma system is enabled: need to