24 integra mt

selfdrive/car/honda/carcontroller.py

@@ -203,11 +203,28 @@ def update(self, CC, CS, now_nanos):
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
-      # If using stock ACC, spam cancel command to kill gas when OP disengages.
+      # Buttons: spam the cancel or resume buttons.
+      cruise = None
+      setting = CruiseButtons.NONE
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
-      elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        cruise = CruiseButtons.CANCEL
+      elif self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS and CC.cruiseControl.resume:
+        cruise = CruiseButtons.RES_ACCEL
+      elif self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and CC.enabled and self.frame % 4 == 0:
+        # Send buttons to the camera when engaged. Only send the LKAS button to turn off stock LKAS off so it can't disengage cruise.
+        # Priority: pcm_cancel > user > auto resume > turn off lkas > none/idle
+        cruise = CruiseButtons.NONE
+        if CS.cruise_buttons or (CS.cruise_setting and CS.cruise_setting != CruiseButtons.LKAS):
+          cruise = CS.cruise_buttons
+          setting = CS.cruise_setting
+        # simulate a momentary press
+        elif self.frame % 100 <= 25:
+          if CC.cruiseControl.resume:
+            cruise = CruiseButtons.RES_ACCEL
+          elif CS.lkas_hud['ENABLED']:
+            setting = CruiseButtons.LKAS
+      if cruise is not None:
+        can_sends.append(hondacan.create_buttons_command(self.packer, self.CAN, cruise, setting, CS.scm_buttons, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.

selfdrive/car/honda/carstate.py

@@ -219,6 +219,7 @@ def update(self, cp, cp_cam, cp_body):
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
 
       if not self.CP.openpilotLongitudinalControl:
+        self.scm_buttons = cp.vl["SCM_BUTTONS"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else {}
         # ACC_HUD is on camera bus on radarless cars
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0

selfdrive/car/honda/hondacan.py

@@ -167,7 +167,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
 
   lkas_hud_values = {
-    'SET_ME_X41': 0x41,
+    'ENABLED': 1,
+    'SET_ME_X20': 0x20,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
@@ -201,11 +202,17 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
   return commands
 
 
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
+def create_buttons_command(packer, CAN, button_val, setting_val, stock_scm_buttons, car_fingerprint):
   values = {
-    'CRUISE_BUTTONS': button_val,
-    'CRUISE_SETTING': 0,
+    'CRUISE_BUTTONS': button_val
   }
+  # Radarless: set CRUISE_SETTING & forward unmodified data bits
+  if len(stock_scm_buttons):
+    values.update({
+      'CRUISE_SETTING': setting_val,
+      'BOH_1': stock_scm_buttons['BOH_1'],
+      'BOH_2': stock_scm_buttons['BOH_2'],
+    })
   # send buttons to camera on radarless cars
   bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)

selfdrive/car/honda/values.py

@@ -67,6 +67,11 @@ class CruiseButtons:
   DECEL_SET = 3
   CANCEL = 2
   MAIN = 1
+  NONE = 0
+
+# CRUISE_SETTINGS
+  DISTANCE = 3
+  LKAS = 1  
 
 
 class CruiseSettings: