IQ.Pilot Release Commit @ 589e633

artifacts/iqpilot_hephaestusd_private/manifest.json

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@@ -491,7 +491,7 @@
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@@ -535,25 +535,25 @@
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   }
 }

artifacts/iqpilot_hephaestusd_private/manifest.json.sig

@@ -1 +1 @@
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artifacts/package_sources/iqdbc/iqdbc/can/tests/test_checksums.py

@@ -90,6 +90,44 @@ class TestCanChecksums:
       assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
       assert parser.vl['LKAS_HUD_A']['CHECKSUM'] == ext
 
+  def test_honda_checksum_high_extended(self):
+    """Extended CAN ids above 0x100000 use a +10 checksum constant instead of +3"""
+    dbc_file = "honda_common_canfd_generated"
+    msgs = [("LANE_PATH", 0), ("RADAR_LEAD", 0)]
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    lane_path_values = {
+      'MUX': 1,
+      'PATH_OFFSET_1': 0,
+      'PATH_OFFSET_2': 0,
+      'PATH_OFFSET_3': 2047,
+      'PATH_OFFSET_4': 2047,
+    }
+    radar_lead_values = {
+      'CNTR_REF': 2,
+      'SET_ME_X01': 1,
+      'TARGET_SPEED_MAYBE': 140,
+      'LEFT_LANE': 3,
+      'RIGHT_LANE': 3,
+      'LANE_PATH_LENGTH': 6,
+    }
+
+    # known correct checksums according to the above values
+    checksum_lane_path = [14, 13, 12, 11]
+    checksum_radar_lead = [4, 3, 2, 1]
+
+    for lane_path, radar_lead in zip(checksum_lane_path, checksum_radar_lead, strict=True):
+      msgs = [
+        packer.make_can_msg("LANE_PATH", 0, lane_path_values),
+        packer.make_can_msg("RADAR_LEAD", 0, radar_lead_values),
+      ]
+      parser.update([0, msgs])
+
+      assert parser.vl['LANE_PATH']['CHECKSUM'] == lane_path
+      assert parser.vl['RADAR_LEAD']['CHECKSUM'] == radar_lead
+    assert parser.can_valid
+
   def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
     """Test AUTOSAR E2E Profile 2 CRCs"""
     assert len(test_messages) == 16  # All counter values must be tested

artifacts/package_sources/iqdbc/iqdbc/car/disable_ecu.py

@@ -1,3 +1,4 @@
+from iqdbc.car.can_definitions import CanData
 from iqdbc.car.carlog import carlog
 from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
 
@@ -6,9 +7,45 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 
 COM_CONT_RESPONSE = b''
 
+CLEAR_DTC_REQUEST = b'\x14\xff\xff\xff'
+CLEAR_DTC_RESPONSE = b'\x54'
+
+FUNCTIONAL_ADDR_29BIT = 0x18DB33F1
+CLEAR_DTC_ISOTP_SF = bytes([len(CLEAR_DTC_REQUEST)]) + CLEAR_DTC_REQUEST + b'\x00' * (7 - len(CLEAR_DTC_REQUEST))
+
+
+def clear_all_dtcs(can_send, buses, functional_addr=FUNCTIONAL_ADDR_29BIT):
+  # broadcast clears stored DTCs on every ECU on the bus, including safety-relevant modules
+  for bus in buses:
+    carlog.warning(f"clear all DTCs (functional) on bus {bus} ...")
+    can_send([CanData(functional_addr, CLEAR_DTC_ISOTP_SF, bus)])
+
+
+def clear_ecu_dtcs(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, timeout=0.1, retry=10, response_offset: int = 0x8):
+  carlog.warning(f"ecu clear DTCs {hex(addr), sub_addr} ...")
+
+  for i in range(retry):
+    try:
+      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
+
+      for _, _ in query.get_data(timeout).items():
+        carlog.warning("clear diagnostic information ...")
+        query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [CLEAR_DTC_REQUEST], [CLEAR_DTC_RESPONSE], response_offset)
+        query.get_data(timeout)
+
+        carlog.warning("ecu DTCs cleared")
+        return True
+
+    except Exception:
+      carlog.exception("ecu clear DTCs exception")
+
+    carlog.error(f"ecu clear DTCs retry ({i + 1}) ...")
+  carlog.error("ecu clear DTCs failed")
+  return False
+
 
 def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01',
-                timeout=0.1, retry=10, response_offset: int = 0x8):
+                timeout=0.1, retry=10, response_offset: int = 0x8, clear_dtc=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
 
@@ -21,6 +58,12 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
       query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
 
       for _, _ in query.get_data(timeout).items():
+        # a DTC clear can take the ECU several hundred ms, so it must complete before comms go down
+        if clear_dtc:
+          carlog.warning("clear diagnostic information ...")
+          query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [CLEAR_DTC_REQUEST], [CLEAR_DTC_RESPONSE], response_offset)
+          query.get_data(timeout)
+
         carlog.warning("communication control disable tx/rx ...")
 
         query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], response_offset)

artifacts/package_sources/iqdbc/iqdbc/car/honda/carcontroller.py

@@ -3,8 +3,9 @@ import math
 
 from iqdbc.can import CANPacker
 from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
-from iqdbc.car.honda import hondacan
+from iqdbc.car.common.pid import PIDController
-from iqdbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
+from iqdbc.car.honda import dash_lane, dash_objects, hondacan
+from iqdbc.car.honda.values import CAR, CruiseButtons, CruiseSettings, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
                                      HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from iqdbc.car.interfaces import CarControllerBase
 
@@ -102,6 +103,12 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
     self.CAN = hondacan.CanBus(CP)
     self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
 
+    self.lane_renderer = dash_lane.LanePathRenderer()
+    self.dash_object_author = dash_objects.DashObjectAuthor()
+    self.rendered_lane = dash_lane.RenderedLane()
+    self.lkas_hud_key = None
+    self.lkas_state_change_frames = 0
+
     self.braking = False
     self.brake_steady = 0.
     self.brake_last = 0.
@@ -114,6 +121,15 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
     self.gas = 0.0
     self.brake = 0.0
     self.last_torque = 0.0
+    self.bosch_last_gas = 0
+
+    self.lkas_button_send_remaining = 0
+    self.last_lkas_button_frame = 0
+    self.radar_disable_counter = 0
+    self.radar_mux = 0
+    # stock RADAR_HUD_CANFD raises its CMBS bit only for a short burst after ACC engages; 10Hz hud ticks
+    self.radar_hud_pulse = 0
+    self.last_acc_enabled = False
 
     self.gasfactor = 1.0
     self.gasfactor_before_maxgas = 1.0
@@ -122,9 +138,13 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
     self.windfactor_before_brake = 0.0
     self.pitch = 0.0
 
+    self.brake_pid = PIDController(k_p=0.0, k_i=1.0, pos_limit=0.0, neg_limit=-2.0, rate=50)
+    self.brake_pid.reset()
+
   def update(self, CC, CC_IQ, CS, now_nanos):
     AolCarController.update(self, self.CP, CC, CC_IQ)
     gas_pedal_force = 0.0
+    min_gas = self.params.BOSCH_GAS_LOOKUP_BP[0]
     actuators = CC.actuators
     hud_control = CC.hudControl
     hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
@@ -165,11 +185,74 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
     # Send CAN commands
     can_sends = []
 
-    # tester present - w/ no response (keeps radar disabled)
     if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
-      if self.frame % 10 == 0:
+      if self.CP.carFingerprint in HONDA_BOSCH_CANFD and CS.stock_acc_alive:
+        # CAN FD: the radar is silenced from here rather than from CarInterface.init(), and only once
+        # the comma relay is confirmed open: init() ran under the ELM327 safety mode, so the
+        # replacement ACC_CONTROL stream was blocked until the safety-mode switch landed, and whenever
+        # that took longer than ~110ms after radar silence the brake module latched CRUISE_FAULT for
+        # the whole drive. With the relay open the replacement stream starts within a few frames of
+        # radar silence (see CS.stock_acc_alive), well inside the fault threshold
+        if CS.canfd_relay_open:
+          if self.radar_disable_counter % 50 == 0:
+            # UDS extended diagnostic session, required before CommunicationControl
+            can_sends.append((0x18DAB0F1, b'\x02\x10\x03\x00\x00\x00\x00\x00', self.CAN.pt))
+          elif self.radar_disable_counter % 50 == 5:
+            # UDS CommunicationControl disableRxAndTx (0x80 suppresses the response), retried every
+            # 0.5s until the radar goes silent
+            can_sends.append((0x18DAB0F1, b'\x03\x28\x83\x03\x00\x00\x00\x00', self.CAN.pt))
+          self.radar_disable_counter += 1
+      elif self.frame % 10 == 0:
+        # tester present - w/ no response (keeps radar disabled)
         can_sends.append(make_tester_present_msg(0x18DAB0F1, self.CAN.pt, suppress_response=True))
 
+    # simulate the disabled canfd radar to prevent faults. These look-alikes are consumed by both the
+    # camera (behind the relay, on the camera bus) and the powertrain: openpilot's own TX is not
+    # forwarded across the open relay, so each frame is packed exactly once (the packer's
+    # counter/checksum only advance once per cycle) and the identical bytes are mirrored onto both
+    # buses (re-packing would double-increment the counter and desync the buses). While the stock
+    # radar is still transmitting it authors all of these itself
+    if self.CP.carFingerprint in HONDA_BOSCH_CANFD and self.CP.openpilotLongitudinalControl and not CS.stock_acc_alive:
+      if CC.enabled and not self.last_acc_enabled:
+        self.radar_hud_pulse = 30  # ~3s at 10Hz, matching the stock 2-6s engage burst
+      self.last_acc_enabled = CC.enabled
+      radar_msgs = []
+      if CS.hud_tick:
+        radar_msgs.append(hondacan.create_radar_hud_canfd(self.packer, self.CAN.pt, CC.enabled, self.radar_hud_pulse > 0))
+        if self.radar_hud_pulse > 0:
+          self.radar_hud_pulse -= 1
+      if CS.supp_tick:
+        radar_msgs.append(hondacan.create_canfd_supplemental(self.packer, self.CAN.pt))
+      if CS.radar_50hz_tick:
+        # Cycle the radar MUX through the stock banks: 1-10, 17-26, 33-42, 49-58. This counter also
+        # drives the LANE_PATH/HUD_OBJECTS mux below: it advances exactly one step per transmitted
+        # frame, so the sweep stays contiguous even when a tick is missed (a frame-derived mux left
+        # holes in the sweep the stock radar never produces).
+        # These must be elif: a bare `if` at a bank start would fall through to the increment,
+        # skipping the bank-start values (17, 33, 49)
+        if self.radar_mux >= 58:
+          self.radar_mux = 1
+        elif self.radar_mux == 10:
+          self.radar_mux = 17
+        elif self.radar_mux == 26:
+          self.radar_mux = 33
+        elif self.radar_mux == 42:
+          self.radar_mux = 49
+        else:
+          self.radar_mux += 1
+      if CS.radar_5hz_tick:
+        # RADAR_LEAD's LANE_PATH_LENGTH must track the valid-point count of the LANE_PATH sweep being
+        # authored, and LEFT_LANE/RIGHT_LANE the per-side line-detected status, in lockstep with the
+        # stock radar's behavior or the dash won't draw the lane lines
+        radar_msgs.extend(hondacan.create_canfd_5hz_radar_messages(self.packer, self.CAN.pt, CS.radar_ref_counter,
+                                                                   dash_lane.canfd_lane_length(self.rendered_lane),
+                                                                   dash_lane.LANE_LINE_ON if self.rendered_lane.left_line else 0,
+                                                                   dash_lane.LANE_LINE_ON if self.rendered_lane.right_line else 0))
+
+      for addr, dat, _ in radar_msgs:
+        can_sends.append((addr, dat, self.CAN.pt))
+        can_sends.append((addr, dat, self.CAN.camera))
+
     # Send steering command.
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
 
@@ -208,9 +291,11 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, 0, CS.scm_ambient_light,
+                                                       self.CP.carFingerprint))
       elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, 0, CS.scm_ambient_light,
+                                                       self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
@@ -218,19 +303,38 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
+          # low-speed extra brake: the fixed accel command under-delivers approaching a stop, so an
-          gas_pedal_force = self.accel + wind_brake_ms2 * self.windfactor + hill_brake
+          # integral-only term closes the gap, releasing at 1 m/s^3 once out of the window
+          if (accel < min_gas) and (CS.out.vEgo < 3.0) and not (-1e-3 < CS.out.vEgo < 1e-3):
+            brake_addon = self.brake_pid.update(error=accel - CS.out.aEgo, speed=CS.out.vEgo)
+            target_accel = min(accel, accel + brake_addon)
+          else:
+            if (self.brake_pid.i < 0.0) and (accel < min_gas):
+              self.brake_pid.i = min(0.0, self.brake_pid.i + 0.02)
+            else:
+              self.brake_pid.reset()
+            target_accel = min(accel, accel + self.brake_pid.i)
+
+          self.accel = float(np.clip(target_accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
+          # not using self.accel since the brake pid resets with the gas pedal
+          gas_pedal_force = accel + wind_brake_ms2 * self.windfactor + hill_brake
 
           # Live-learn gas pedal adjustments when openpilot is controlling gas.
           if (actuators.longControlState == LongCtrlState.pid) and (not CS.out.gasPressed):
-            gas_error = self.accel - CS.out.aEgo
+            gas_error = accel - CS.out.aEgo
-            if gas_error != 0.0 and gas_pedal_force > 0.0:
+            if gas_error != 0.0 and gas_pedal_force > min_gas:
-              learn_speed = 150 if (self.CP.carFingerprint == CAR.HONDA_INSIGHT) else 50
+              if self.CP.carFingerprint in (CAR.HONDA_INSIGHT, CAR.HONDA_CIVIC_BOSCH):  # gas pedal reacts too slowly
-              self.gasfactor = np.clip(self.gasfactor + gas_error / learn_speed * gas_pedal_force, 0.1, 3.0)
+                learn_speed = 150
+              elif self.CP.carFingerprint == CAR.ACURA_RDX_3G:  # prevent overreacting to turbo lag
+                learn_speed = 300
+              else:
+                learn_speed = 50
+              self.gasfactor = np.clip(self.gasfactor + gas_error / learn_speed * (gas_pedal_force - min_gas), 0.01, 3.0)
             if gas_error != 0.0 and (not CS.out.brakePressed) and (CS.out.vEgo > 0.0):
-              wind_adjust = 1 + wind_brake_ms2 / 1000
+              wind_learn_speed = 100 if self.CP.carFingerprint == CAR.ACURA_RDX_3G else 1000
+              wind_adjust = 1 + wind_brake_ms2 / wind_learn_speed
               self.windfactor = np.clip(self.windfactor * (wind_adjust if (gas_error > 0) else 1.0 / wind_adjust), 0.1, 3.0)
-            if gas_pedal_force <= 0.0:
+            if gas_pedal_force <= min_gas:
               self.windfactor = max(self.windfactor, self.windfactor_before_brake)
             else:
               self.windfactor_before_brake = self.windfactor
@@ -240,12 +344,21 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
             else:
               self.gasfactor_before_maxgas = self.gasfactor
               self.windfactor_before_maxgas = self.windfactor
-          self.gas = float(np.interp(gas_pedal_force * self.gasfactor, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
+          self.gas = float(np.interp((gas_pedal_force - min_gas) * self.gasfactor + min_gas,
+                                     self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
+
+          # limit gas ramp to 60 units per frame, matches stock; higher sometimes makes the powertrain ignore the command
+          max_gas = max(60, self.bosch_last_gas + 60)
+          self.gas = min(self.gas, max_gas)
+          self.bosch_last_gas = self.gas
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
-          can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
+          # CAN FD: never overlap the stock radar's own ACC_CONTROL stream; ours starts within a few
-                                                        self.stopping_counter, self.CP.carFingerprint, gas_pedal_force))
+          # frames of the radar going silent (see the deferred radar disable above)
+          if not (self.CP.carFingerprint in HONDA_BOSCH_CANFD and CS.stock_acc_alive):
+            can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
+                                                          self.stopping_counter, self.CP, gas_pedal_force))
         else:
           apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -272,21 +385,41 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
 
           can_sends.extend(GasInterceptorCarController.update(self, CC, CS, gas * self.gasfactor, brake, wind_brake, self.packer, self.frame))
 
-    # Send dashboard UI commands.
+    # Send dashboard UI commands. On CAN FD, ACC_HUD is a radar look-alike that openpilot only owns
+    # once it has disabled the radar; it rides the phase-locked 10Hz hud tick instead of frame % 10
+    if (self.CP.carFingerprint in HONDA_BOSCH_CANFD and CS.hud_tick and
+        self.CP.openpilotLongitudinalControl and not CS.stock_acc_alive):
+      can_sends.append(hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, actuators.accel,
+                                               hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud))
+
     if self.frame % 10 == 0:
-      if self.CP.openpilotLongitudinalControl:
+      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH_CANFD:
         # On Nidec, this also controls longitudinal positive acceleration
         can_sends.append(hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel,
                                                  hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud))
 
       steering_available = CS.out.cruiseState.available and CS.out.vEgo > self.CP.minSteerSpeed
       reduced_steering = CS.out.steeringPressed
+
+      lkas_state_change = None
+      if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
+        # The key must contain exactly the signals that change the LKAS_HUD payload, nothing more:
+        # a flickering input (like steer saturation) re-triggers the pulse continuously, which keeps
+        # LKAS_STATE_CHANGE high and suppresses the dash lane lines entirely
+        hud_key = (bool(CC.latActive), bool(self.dashed_lanes), bool(alert_steer_required), bool(CS.out.steerFaultPermanent))
+        if hud_key != self.lkas_hud_key:
+          self.lkas_hud_key = hud_key
+          self.lkas_state_change_frames = 30  # 3s at the 10Hz LKAS_HUD rate, matching the stock pulse length
+        lkas_state_change = self.lkas_state_change_frames > 0
+        self.lkas_state_change_frames = max(0, self.lkas_state_change_frames - 1)
+
       can_sends.extend(hondacan.create_lkas_hud(self.packer, self.CAN.lkas, self.CP, hud_control, CC.latActive,
-                                                steering_available, reduced_steering, alert_steer_required, CS.lkas_hud, self.dashed_lanes))
+                                                steering_available, reduced_steering, alert_steer_required, CS.lkas_hud, self.dashed_lanes,
+                                                steer_fault_permanent=CS.out.steerFaultPermanent, lkas_state_change=lkas_state_change))
 
       if self.CP.openpilotLongitudinalControl:
         # TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
-        if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
+        if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD):
           can_sends.append(hondacan.create_radar_hud(self.packer, self.CAN.pt))
         if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
           can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
@@ -295,6 +428,72 @@ class CarController(CarControllerBase, AolCarController, GasInterceptorCarContro
           if not self.CP_IQ.enableGasInterceptor:
             self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
+    # Render OP's lane and lead cars on the dash. On CAN FD these are radar look-alikes that only
+    # exist (and are only allowed by panda safety) when the radar is disabled; in stock ACC the real
+    # radar still owns LANE_PATH/HUD_OBJECTS
+    if ((self.frame % 2 == 0 and self.CP.carFingerprint in HONDA_BOSCH_RADARLESS) or
+        (CS.radar_50hz_tick and self.CP.carFingerprint in HONDA_BOSCH_CANFD and self.CP.openpilotLongitudinalControl
+         and not CS.stock_acc_alive)):
+      leads = dash_objects.leads_from_model(self.model, CS.out.vEgo)
+      lead = leads[0]
+      lead_d = lead.dRel if lead.status else 0.0
+      self.rendered_lane = self.lane_renderer.update(self.model, CS.out.vEgo, lead_d)
+      # the dash freezes the lane display if LANE_PATH and HUD_OBJECTS muxes don't match
+      if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
+        mux = self.radar_mux
+        # no LKAS_HUD_2 on CAN FD: the dash reads the lane length from the in-band terminator, so the
+        # path is reshaped into the terminated-prefix form
+        lane_offsets = dash_lane.canfd_lane_offsets(self.rendered_lane)
+      else:
+        mux = dash_lane.MUX_CYCLE[(self.frame // 2) % len(dash_lane.MUX_CYCLE)]
+        lane_offsets = self.rendered_lane.offsets
+      lane_msg = dash_lane.create_lane_path(self.packer, self.CAN.lkas, lane_offsets, mux)
+      can_sends.append(lane_msg)
+
+      # CAN FD cars have no camera HUD_OBJECTS to poll (the disabled radar owned it): author OP's
+      # lead in slot 0 with the other slots blank (tracks=None)
+      tracks = CS.camera_object_tracker.snapshot() if CS.camera_object_tracker is not None else None
+      if self.CP.openpilotLongitudinalControl:
+        hud_msg = self.dash_object_author.create(self.packer, self.CAN.lkas, lead, tracks, mux, now_nanos * 1e-9,
+                                                 extra_leads=leads[1:])
+      else:
+        # for stock ACC, forward the camera's objects but with our mux
+        hud_msg = dash_objects.forward_hud_object(self.packer, self.CAN.lkas, mux, tracks)
+      can_sends.append(hud_msg)
+
+      # on CAN FD the camera (behind the relay) also consumes these; mirror the identical packed
+      # bytes onto the camera bus (packed once, so the counter/checksum stay in lockstep)
+      if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
+        for addr, dat, _ in (lane_msg, hud_msg):
+          can_sends.append((addr, dat, self.CAN.camera))
+
+    if self.frame % 20 == 0 and self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      # COUNTER_2 trails the packer's COUNTER (frame//20 % 4) by one
+      rl = self.rendered_lane
+      can_sends.append(dash_lane.create_lkas_hud_2(self.packer, self.CAN.lkas, (self.frame // 20 - 1) % 4,
+                                                   rl.reach, rl.lane_cross, rl.left_line, rl.right_line))
+
+    # Radarless + CAN FD: when stock LKAS is active, the touch-steering-wheel nag eventually forces an
+    # ACC disengagement (on CAN FD it shows up as a brake tap from the VSA). Disable LKAS automatically
+    # and block the driver's LKAS button by taking over SCM_BUTTONS on the camera bus while engaged
+    # (panda blocks the forwarded stock SCM_BUTTONS while this stream flows)
+    if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD) and CC.enabled and self.frame % 4 == 0 and \
+        not pcm_cancel_cmd and not CC.cruiseControl.resume:
+      if self.lkas_button_send_remaining == 0 and CS.lkas_hud["LKAS_READY"] and self.frame >= self.last_lkas_button_frame + 500:
+        self.lkas_button_send_remaining = 3
+
+      if self.lkas_button_send_remaining > 0:
+        self.last_lkas_button_frame = self.frame
+        self.lkas_button_send_remaining -= 1
+        cruise_setting = CruiseSettings.LKAS
+      elif CS.cruise_setting == CruiseSettings.LKAS:
+        cruise_setting = 0  # block the driver's LKAS button press
+      else:
+        cruise_setting = CS.cruise_setting
+
+      can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CS.cruise_buttons, cruise_setting,
+                                                     CS.scm_ambient_light, self.CP.carFingerprint, bus=self.CAN.camera))
+
     # Finalize actuator state for downstream consumers
     new_actuators = actuators.as_builder()
     new_actuators.speed = self.speed

artifacts/package_sources/iqdbc/iqdbc/car/honda/carstate.py

@@ -8,6 +8,7 @@ from iqdbc.car.honda.hondacan import CanBus
 from iqdbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HONDA_BOSCH_TJA_CONTROL, \
                                                  HondaFlags, CruiseButtons, CruiseSettings, GearShifter, CarControllerParams
+from iqdbc.car.honda.dash_objects import CameraObjectTracker
 from iqdbc.car.interfaces import CarStateBase
 
 from iqdbc.lvbs.car.honda.iq_carstate import IQCarState
@@ -58,11 +59,39 @@ class CarState(CarStateBase, IQCarState):
     self.initial_accFault_cleared = False
     self.initial_accFault_cleared_timer = int(10 / DT_CTRL)  # 10 seconds after startup for initial faults to clear
 
+    self.scm_ambient_light = 0
+
+    self.radar_ref_counter = 0
+    self.radar_5hz_tick_counter = 0
+    self.radar_5hz_tick = False
+    self.supp_tick_counter = 0
+    self.supp_tick = False
+    self.hud_tick_counter = 0
+    self.hud_tick = False
+    self.radar_50hz_tick_counter = 0
+    self.radar_50hz_tick = False
+
+    # CAN FD deferred radar disable (see carcontroller): the stock radar is assumed alive until it has
+    # been silent for a few frames, and the relay is detected open once the camera's STEERING_CONTROL
+    # stops being physically visible on the PT bus
+    self.stock_acc_counter = 0
+    self.stock_acc_alive = False
+    self.camera_steer_counter = 0
+    self.camera_steer_seen = False
+    self.canfd_frames = 0
+    self.canfd_relay_open = False
+
+    # only radarless cameras emit HUD_OBJECTS to poll for adjacent-car positions; on CAN FD the
+    # (disabled) radar owned it, so there is nothing to track
+    self.camera_object_tracker = CameraObjectTracker() if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else None
+
   def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
     if self.CP.enableBsm:
       cp_body = can_parsers[Bus.body]
+    if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
+      cp_radar = can_parsers[Bus.radar]
 
     ret = structs.CarState()
     ret_iq = structs.IQCarState()
@@ -76,6 +105,10 @@ class CarState(CarStateBase, IQCarState):
     prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
+    if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
+      # The camera consumes SCM_BUTTONS content beyond the buttons (losing/zeroing this byte raises an
+      # adaptive high beam error), so it must be echoed on frames sent in the SCM's place
+      self.scm_ambient_light = cp.vl["SCM_BUTTONS"]["AMBIENT_LIGHT_MAYBE"]
 
     # used for car hud message
     # TODO: find CAR_SPEED for HONDA_ODYSSEY_TWN or use ACC_HUD w/ detection
@@ -106,7 +139,7 @@ class CarState(CarStateBase, IQCarState):
 
     steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
     ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
-    if self.CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
+    if self.CP.carFingerprint in (HONDA_BOSCH_ALT_RADAR | HONDA_BOSCH_CANFD):
       # TODO: See if this logic works for all other Honda
       min_steer_speed = max(CarControllerParams.STEER_GLOBAL_MIN_SPEED, self.CP.minSteerSpeed)
       expected_low_speed_lockout = steer_status == "LOW_SPEED_LOCKOUT" and ret.vEgo < min_steer_speed
@@ -115,7 +148,7 @@ class CarState(CarStateBase, IQCarState):
       # LOW_SPEED_LOCKOUT is not worth a warning
       # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
       # FIXME: the stock camera stops steering on NO_TORQUE_ALERT_1
-      ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
+      ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "TJA_LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
 
     # All Honda EPS cut off slightly above standstill, some much higher
     # Don't alert in the near-standstill range, but alert for per-vehicle configured minimums above that
@@ -234,6 +267,72 @@ class CarState(CarStateBase, IQCarState):
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
     if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
       self.lkas_hud = cp_cam.vl["LKAS_HUD"]
+    if self.CP.carFingerprint in HONDA_BOSCH_CANFD:
+      # The radar emits low-rate tick reference messages that keep running even while its data
+      # messages are disabled, so the look-alikes are phased to the stock cadence off of them.
+      #
+      # There is a one-frame (10 ms) delay between reading a tick here in carstate and transmitting the
+      # response in carcontroller. The stock radar sends each data message in the SAME frame as its
+      # tick, so we pulse one frame BEFORE the next tick (counter == period-1): the +1 transmit delay
+      # then lands the message on the next tick frame, matching stock.
+      #   period (frames @100Hz): 0x710=100, 0x730=10, 0x750=2, RADAR_REFERENCE=20
+      self.radar_ref_counter = cp.vl["RADAR_REFERENCE"]["COUNTER"]
+
+      # 5 Hz: RADAR_REFERENCE (0x3A1) is on the powertrain bus (cp), not the radar bus (cp_radar).
+      # RADAR_LEAD does NOT ride with the reference; stock sends it ~120 ms (12 frames) after, so fire
+      # at frame 11 (+1 transmit delay -> ~120 ms)
+      ref_tick_vals = cp.vl_all.get("RADAR_REFERENCE", {}).get("COUNTER", [])
+      if len(ref_tick_vals) > 0:
+        self.radar_5hz_tick_counter = 0
+      else:
+        self.radar_5hz_tick_counter += 1
+      self.radar_5hz_tick = (self.radar_5hz_tick_counter == 11)
+
+      supp_tick_vals = cp_radar.vl_all.get("RADAR_SUPP_TICK_REFERENCE", {}).get("IGNORE", [])
+      if len(supp_tick_vals) > 0:
+        self.supp_tick_counter = 0
+      else:
+        self.supp_tick_counter += 1
+      self.supp_tick = (self.supp_tick_counter == 99)
+
+      hud_tick_vals = cp_radar.vl_all.get("RADAR_HUD_TICK_REFERENCE", {}).get("IGNORE", [])
+      if len(hud_tick_vals) > 0:
+        self.hud_tick_counter = 0
+      else:
+        self.hud_tick_counter += 1
+      self.hud_tick = (self.hud_tick_counter == 9)
+
+      tick_50hz_vals = cp_radar.vl_all.get("RADAR_50HZ_TICK_REFERENCE", {}).get("IGNORE", [])
+      if len(tick_50hz_vals) > 0:
+        self.radar_50hz_tick_counter = 0
+      else:
+        self.radar_50hz_tick_counter += 1
+      self.radar_50hz_tick = (self.radar_50hz_tick_counter == 1)
+
+      # Deferred radar disable (see carcontroller). The stock radar transmits ACC_CONTROL every 2
+      # frames, so 4 missed frames means it has been silenced; assume alive until then so the
+      # replacement stream never overlaps it
+      self.canfd_frames += 1
+      if len(cp.vl_all.get("ACC_CONTROL", {}).get("COUNTER", [])) > 0:
+        self.stock_acc_counter = 0
+      else:
+        self.stock_acc_counter += 1
+      self.stock_acc_alive = self.stock_acc_counter < 4
+
+      # While the comma relay is closed the camera's STEERING_CONTROL is physically visible on the PT
+      # bus; when the relay opens it disappears (openpilot's own 0xE4 TX is not parsed as RX). As a
+      # fallback, assume the relay is open after 5 s of controls in case the camera was never seen
+      if len(cp.vl_all.get("STEERING_CONTROL", {}).get("COUNTER", [])) > 0:
+        self.camera_steer_counter = 0
+        self.camera_steer_seen = True
+      else:
+        self.camera_steer_counter += 1
+      self.canfd_relay_open = (self.camera_steer_seen and self.camera_steer_counter >= 5) or self.canfd_frames >= 500
+    else:
+      self.supp_tick = False
+      self.hud_tick = False
+      self.radar_5hz_tick = False
+      self.radar_50hz_tick = False
 
     if self.CP.enableBsm:
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
@@ -246,16 +345,39 @@ class CarState(CarStateBase, IQCarState):
       *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
-    IQCarState.update(self, ret, can_parsers)
+    IQCarState.update(self, ret, ret_iq, can_parsers)
+
+    if self.camera_object_tracker is not None:
+      self.camera_object_tracker.update(cp_cam)
 
     return ret, ret_iq
 
   def get_can_parsers(self, CP, CP_IQ):
+    pt_messages = []
+    cam_messages = []
+    if CP.carFingerprint in HONDA_BOSCH_CANFD:
+      # Radar-alive and relay-open detection for the deferred radar disable (see carcontroller).
+      # Both messages intentionally go silent (the radar is disabled, the camera ends up behind the
+      # open relay), so subscribe with NaN frequency to skip the alive/timeout checks
+      pt_messages += [("ACC_CONTROL", float('nan')), ("STEERING_CONTROL", float('nan'))]
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      # polled by the CameraObjectTracker, but not every radarless camera emits it
+      cam_messages += [("HUD_OBJECTS", float('nan'))]
     parsers = {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).camera),
     }
     if CP.enableBsm:
       parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)
+    if CP.carFingerprint in HONDA_BOSCH_CANFD:
+      # The tick references are only read via vl_all, which (unlike vl) does not auto-subscribe
+      # messages, so they must be listed explicitly or they are never parsed.
+      #   0x710 RADAR_SUPP_TICK_REFERENCE (1 Hz), 0x730 RADAR_HUD_TICK_REFERENCE (10 Hz),
+      #   0x750 RADAR_50HZ_TICK_REFERENCE (50 Hz)
+      parsers[Bus.radar] = CANParser(DBC[CP.carFingerprint][Bus.radar], [
+        ("RADAR_SUPP_TICK_REFERENCE", 0),
+        ("RADAR_HUD_TICK_REFERENCE", 0),
+        ("RADAR_50HZ_TICK_REFERENCE", 0),
+      ], CanBus(CP).radar)
 
     return parsers

artifacts/package_sources/iqdbc/iqdbc/car/honda/dash_lane.py

@@ -0,0 +1,186 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from dataclasses import dataclass, field
+
+import numpy as np
+
+POINT_COUNT = 40
+POINTS_PER_FRAME = 4
+SWEEP_INDICES = POINT_COUNT // POINTS_PER_FRAME
+
+# the camera repeats each sweep index across four redundant banks: mux = index + bank*16,
+# giving mux values 1-10, 17-26, 33-42 and 49-58 for logical indices 0-9
+MUX_CYCLE = tuple(index + bank * 16 for bank in range(4) for index in range(1, SWEEP_INDICES + 1))
+
+OFFSET_UNAVAILABLE = 2047
+OFFSET_VALID_MAX = 2046
+
+NEAR_M = 2.0
+FAR_M = 100.0
+LOOKAHEAD_M = np.linspace(NEAR_M, FAR_M, POINT_COUNT)
+
+# full swing center -> max turn is slewed over this long so model jumps can't teleport the dash lane
+SLEW_RATE_HZ = 50.0
+SLEW_FULL_SCALE_S = 2.0
+SLEW_MAX_STEP = OFFSET_VALID_MAX / (SLEW_FULL_SCALE_S * SLEW_RATE_HZ)
+
+
+def _stock_gain(d):
+  # raw offset units per meter of lateral, regressed from stock radar sweeps vs modelV2 lane centers
+  return 29.3 + 0.243 * d - 0.00228 * d ** 2
+
+
+def _legacy_gain(d):
+  return 6.27 + 0.0106 * d + 0.000354 * d ** 2
+
+
+GAIN = _stock_gain(LOOKAHEAD_M)
+
+
+def gain_correction(d: float) -> float:
+  # the HUD lead marker's lateral scale was tuned against lanes drawn with the legacy (flatter) gain
+  # law, so the lead's lateral must ride this ratio to stay on the corrected lane rendering
+  d = min(max(float(d), NEAR_M), FAR_M)
+  return _stock_gain(d) / _legacy_gain(d)
+
+
+LANE_LINE_ON = 3
+LANE_LENGTH_MAX_VALUE = 33
+LANE_WIDTH_DEFAULT = 32
+
+LINE_PROB_ON = 0.25
+LINE_PROB_OFF = 0.10
+HALF_LANE_M = 1.65
+FULL_REACH_SPEED = 27.0
+FULL_REACH_LEAD_DIST = 70.0
+MIN_REACH = 0.15
+
+
+def encode_lane_path(x, y):
+  x = np.asarray(x, dtype=float)
+  y = np.asarray(y, dtype=float)
+  if x.size < 2 or x.max() < FAR_M:
+    return [OFFSET_UNAVAILABLE] * POINT_COUNT
+  lat = np.interp(LOOKAHEAD_M, x, y)
+  # stock encodes offsets with the opposite lateral sign to openpilot's +left convention
+  raw = np.clip(np.round(-GAIN * lat), -OFFSET_VALID_MAX, OFFSET_VALID_MAX)
+  return [int(v) for v in raw]
+
+
+# The CAN FD dash has no LKAS_HUD_2 to carry the drawn length: it reads the path as a contiguous valid
+# prefix ended by an in-band OFFSET_UNAVAILABLE terminator, idles at 6 valid zero offsets (never
+# all-unavailable), and cross-checks the prefix length against RADAR_LEAD's LANE_PATH_LENGTH.
+CANFD_MAX_VALID_PTS = 23
+CANFD_MIN_VALID_PTS = 6
+CANFD_IDLE_OFFSETS = [0] * CANFD_MIN_VALID_PTS + [OFFSET_UNAVAILABLE] * (POINT_COUNT - CANFD_MIN_VALID_PTS)
+
+# stock valid-point count is a function of ego speed alone, fit from factory lanes-on RADAR_LEAD frames
+CANFD_LEN_INTERCEPT = 6.74
+CANFD_LEN_SLOPE = 0.862
+
+
+@dataclass
+class RenderedLane:
+  offsets: list[int] = field(default_factory=lambda: [OFFSET_UNAVAILABLE] * POINT_COUNT)
+  reach: float = 0.0
+  left_line: bool = False
+  right_line: bool = False
+  lane_cross: int = 0
+  v_ego: float = 0.0
+
+  @property
+  def blank(self) -> bool:
+    return self.reach <= 0.0 or self.offsets[0] == OFFSET_UNAVAILABLE
+
+
+def canfd_lane_length(lane: RenderedLane) -> int:
+  if lane.blank:
+    return CANFD_MIN_VALID_PTS
+  n = round(CANFD_LEN_INTERCEPT + CANFD_LEN_SLOPE * lane.v_ego)
+  return max(CANFD_MIN_VALID_PTS, min(CANFD_MAX_VALID_PTS, n))
+
+
+def canfd_lane_offsets(lane: RenderedLane) -> list[int]:
+  if lane.blank:
+    return CANFD_IDLE_OFFSETS
+  n_valid = canfd_lane_length(lane)
+  return list(lane.offsets[:n_valid]) + [OFFSET_UNAVAILABLE] * (POINT_COUNT - n_valid)
+
+
+def create_lane_path(packer, bus, offsets, mux):
+  base = ((mux - 1) % 16) * POINTS_PER_FRAME
+  values = {"MUX": mux}
+  for i in range(POINTS_PER_FRAME):
+    values[f"PATH_OFFSET_{i + 1}"] = offsets[base + i]
+  return packer.make_can_msg("LANE_PATH", bus, values)
+
+
+def create_lkas_hud_2(packer, bus, counter_2, reach=1.0, lane_cross=0, left_line=True, right_line=True):
+  lane_length = max(0, min(LANE_LENGTH_MAX_VALUE, round(reach * LANE_LENGTH_MAX_VALUE)))
+  shown = lane_length > 0
+  values = {
+    "COUNTER_2": counter_2,
+    "SET_ME_X01": 1,
+    "LANE_WIDTH": LANE_WIDTH_DEFAULT,
+    "LEFT_LANE": LANE_LINE_ON if (shown and left_line) else 0,
+    "RIGHT_LANE": LANE_LINE_ON if (shown and right_line) else 0,
+    "LEFT_LANE_CROSSED": 1 if (shown and lane_cross < 0) else 0,
+    "RIGHT_LANE_CROSSED": 1 if (shown and lane_cross > 0) else 0,
+    "LANE_LENGTH": lane_length,
+  }
+  return packer.make_can_msg("LKAS_HUD_2", bus, values)
+
+
+class LanePathRenderer:
+  def __init__(self):
+    self._left_on = False
+    self._right_on = False
+    self._shown = None
+
+  def _lane_center(self, model):
+    lls, probs = model.laneLines, model.laneLineProbs
+    if len(lls) < 3 or len(probs) < 3 or len(lls[1].x) == 0:
+      return None, None, False, False
+
+    left = probs[1] >= (LINE_PROB_OFF if self._left_on else LINE_PROB_ON)
+    right = probs[2] >= (LINE_PROB_OFF if self._right_on else LINE_PROB_ON)
+    x = np.array(lls[1].x)
+    yl, yr = np.array(lls[1].y), np.array(lls[2].y)
+    if left and right:
+      y = (yl + yr) / 2.0
+    elif right:
+      y = yr - HALF_LANE_M
+    elif left:
+      y = yl + HALF_LANE_M
+    else:
+      return None, None, False, False
+    return x, y, left, right
+
+  def _slew(self, offsets):
+    # an all-sentinel fit draws nothing: pass through and reset so the next real fit shows unslewed
+    if offsets[0] == OFFSET_UNAVAILABLE:
+      self._shown = None
+      return offsets
+    target = np.asarray(offsets, dtype=float)
+    if self._shown is None:
+      self._shown = target
+    else:
+      self._shown = self._shown + np.clip(target - self._shown, -SLEW_MAX_STEP, SLEW_MAX_STEP)
+    return [int(v) for v in np.round(self._shown)]
+
+  def update(self, model, v_ego, lead_d) -> RenderedLane:
+    x = y = None
+    left_on = right_on = False
+    if model is not None:
+      x, y, left_on, right_on = self._lane_center(model)
+    if x is None:
+      self._shown = None
+      return RenderedLane()
+    self._left_on, self._right_on = left_on, right_on
+
+    reach = float(np.clip(max(v_ego / FULL_REACH_SPEED, lead_d / FULL_REACH_LEAD_DIST, MIN_REACH), 0.0, 1.0))
+    if round(reach * LANE_LENGTH_MAX_VALUE) <= 0:
+      self._shown = None
+      return RenderedLane()
+    return RenderedLane(self._slew(encode_lane_path(x, y)), reach, left_on, right_on, v_ego=v_ego)

artifacts/package_sources/iqdbc/iqdbc/car/honda/dash_objects.py

@@ -0,0 +1,314 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import math
+from dataclasses import dataclass
+
+from iqdbc.can.parser import CANParser
+from iqdbc.car.honda import dash_lane
+
+NUM_SLOTS = 10
+LONG_DIST_CAP_M = 195.0
+
+# byte-faithful empty-slot payload decoded from stock HUD_OBJECTS; an inconsistent frame risks the dash rejecting it
+INACTIVE = {
+  "OBJECT_ID": 0,
+  "IS_LEAD_CAR": 0,
+  "CAR_TYPE": -1,
+  "ROTATION": -128,
+  "LONG_DIST": 196.9,
+  "LAT_DIST": 204.7,
+}
+
+CAR_TYPE_CAR = 7
+LONG_DIST_MAX_M = 194.0
+LAT_DIST_LIM_M = 204.7
+
+# the dash under-scales LAT_DIST ~0.3x in the ego frame; tuned on-car so the lead marker lands on the lane
+LAT_SCALE = 0.35
+
+ROT_BAND_M = 1.5
+ROT_MAX = 6
+
+REID_GAP_M = 8.0
+REID_TAU = 1.5
+REID_REFRACTORY = 1.5
+MAX_OBJECT_ID = 31
+
+DREL_SMOOTH_TAU = 0.6
+YREL_SMOOTH_TAU = 0.5
+FF_VREL_MIN = 0.5
+DREL_RESID_CLAMP = 1.5
+
+LEAD_PROB_ON = 0.5
+LEAD_PROB_OFF = 0.35
+LEAD_HOLD_S = 0.6
+
+# modelV2.leadsV3 entries are one car at three time horizons, not three cars: only render the extra
+# horizons when spatially distinct from everything already rendered (a genuinely different vehicle)
+EXTRA_LEAD_SLOTS = (1, 2)
+EXTRA_LEAD_MIN_SEP_D = 5.0
+EXTRA_LEAD_MIN_SEP_Y = 1.5
+
+
+@dataclass
+class CameraObject:
+  slot: int
+  object_id: int
+  d_rel: float
+  y_rel: float
+  is_lead_car: bool
+  valid: bool
+  car_type: int = -1
+  rotation: int = -128
+
+
+class CameraObjectTracker:
+  def __init__(self):
+    self._tracks: list[CameraObject] = [
+      CameraObject(slot=i, object_id=0, d_rel=0.0, y_rel=0.0, is_lead_car=False, valid=False)
+      for i in range(NUM_SLOTS)
+    ]
+
+  def update(self, cp_cam: CANParser) -> None:
+    vla = cp_cam.vl_all["HUD_OBJECTS"]
+    for mux, oid, ld, yd, lead, ct, rot in zip(vla["MUX"], vla["OBJECT_ID"], vla["LONG_DIST"], vla["LAT_DIST"],
+                                               vla["IS_LEAD_CAR"], vla["CAR_TYPE"], vla["ROTATION"], strict=True):
+      slot = (int(mux) - 1) % 16
+      if 0 <= slot < NUM_SLOTS:
+        self._tracks[slot] = CameraObject(
+          slot=slot,
+          object_id=int(oid),
+          d_rel=float(ld),
+          y_rel=float(yd),
+          is_lead_car=bool(lead),
+          valid=oid != 0 and ld < LONG_DIST_CAP_M,
+          car_type=int(ct),
+          rotation=int(rot),
+        )
+
+  def snapshot(self) -> list[CameraObject]:
+    return self._tracks
+
+
+@dataclass
+class ModelLead:
+  status: bool
+  dRel: float
+  yRel: float
+  vRel: float
+  prob: float = 0.0
+
+
+def leads_from_model(model, v_ego, n=3):
+  # modelV2's lateral is +right; the dash convention is +left. v is made relative for the smoother.
+  # Data stays populated below LEAD_PROB_ON (status False, prob carried) so the author's hysteresis
+  # can keep an already-rendered lead alive down to LEAD_PROB_OFF instead of blinking it
+  out = []
+  for i in range(n):
+    if model is None or len(model.leadsV3) <= i or len(model.leadsV3[i].x) == 0:
+      out.append(ModelLead(False, 0.0, 0.0, 0.0))
+      continue
+    lead = model.leadsV3[i]
+    out.append(ModelLead(bool(lead.prob >= LEAD_PROB_ON), float(lead.x[0]), -float(lead.y[0]),
+                         float(lead.v[0]) - v_ego, prob=float(lead.prob)))
+  return out
+
+
+def lead_rotation(lateral_left_m: float) -> int:
+  magnitude = min(round(abs(lateral_left_m) / ROT_BAND_M), ROT_MAX)
+  return -magnitude if lateral_left_m > 0 else magnitude
+
+
+class LeadIdentity:
+  """Mints a stable OBJECT_ID for the rendered lead, re-IDing on a fresh lead or a range discontinuity.
+  dRel is noisy, so a leaky predictor (feed-forward vRel, leak toward dRel) accumulates the residual
+  instead of a per-sample range-rate test."""
+
+  def __init__(self):
+    self.object_id = 0
+    self._on = False
+    self._pred = 0.0
+    self._prev_t = 0.0
+    self._reid_t = -1e9
+
+  def update(self, status: bool, d_rel: float, v_rel: float, now: float) -> int:
+    if not status:
+      self.object_id = 0
+      self._on = False
+      return 0
+
+    new_lead = not self._on
+    if self._on:
+      dt = max(now - self._prev_t, 1e-3)
+      self._pred += v_rel * dt
+      self._pred += min(dt / REID_TAU, 1.0) * (d_rel - self._pred)
+      if abs(d_rel - self._pred) > REID_GAP_M and now - self._reid_t > REID_REFRACTORY:
+        new_lead = True
+    self._prev_t = now
+
+    if new_lead:
+      self.object_id = self.object_id % MAX_OBJECT_ID + 1
+      self._reid_t = now
+      self._pred = d_rel
+    self._on = True
+    return self.object_id
+
+
+class MarkerSmoother:
+  """Stabilizes a rendered marker without lagging real motion: vRel feed-forward on dRel with a
+  clamped leak toward the measurement, plain low-pass on yRel, snapping on an identity change."""
+
+  def __init__(self):
+    self._id = 0
+    self._d = 0.0
+    self._y = 0.0
+    self._t = 0.0
+
+  def update(self, d_rel: float, y_rel: float, v_rel: float, object_id: int, now: float) -> tuple[float, float]:
+    if object_id != self._id:
+      self._id, self._d, self._y, self._t = object_id, d_rel, y_rel, now
+      return d_rel, y_rel
+    dt = max(now - self._t, 1e-3)
+    self._t = now
+    if abs(v_rel) >= FF_VREL_MIN:
+      self._d += v_rel * dt
+    resid = min(max(d_rel - self._d, -DREL_RESID_CLAMP), DREL_RESID_CLAMP)
+    self._d += (1.0 - math.exp(-dt / DREL_SMOOTH_TAU)) * resid
+    self._y += (1.0 - math.exp(-dt / YREL_SMOOTH_TAU)) * (y_rel - self._y)
+    return self._d, self._y
+
+
+def create_hud_object(packer, bus, mux, track):
+  values = {"MUX": mux}
+  if track is None:
+    values.update(INACTIVE)
+  else:
+    values.update({
+      "OBJECT_ID": int(track["object_id"]),
+      "IS_LEAD_CAR": int(track["is_lead_car"]),
+      "CAR_TYPE": int(track["car_type"]),
+      "ROTATION": int(track["rotation"]),
+      "LONG_DIST": min(max(track["d_rel"], 0.0), LONG_DIST_MAX_M),
+      "LAT_DIST": min(max(track["y_rel"], -LAT_DIST_LIM_M), LAT_DIST_LIM_M),
+    })
+  return packer.make_can_msg("HUD_OBJECTS", bus, values)
+
+
+def forward_hud_object(packer, bus, mux, tracks):
+  slot = (mux - 1) % 16
+  st = tracks[slot] if (tracks and slot < len(tracks)) else None
+  track = ({"d_rel": st.d_rel, "y_rel": st.y_rel, "object_id": st.object_id, "is_lead_car": st.is_lead_car,
+            "car_type": st.car_type, "rotation": st.rotation} if (st is not None and st.valid) else None)
+  return create_hud_object(packer, bus, mux, track)
+
+
+class DashObjectAuthor:
+  """Authors HUD_OBJECTS: openpilot's lead in slot 0 with a stable identity and smoothed marker, the
+  camera's non-lead cars forwarded in slots 1-9 (or distinct extra model leads where there is no
+  camera to forward), one frame per mux tick."""
+
+  def __init__(self):
+    self._identity = LeadIdentity()
+    self._smoother = MarkerSmoother()
+    self._lead_id = 0
+    self._prev_op_id = 0
+    self._lead_on = False
+    self._lead_hold: ModelLead | None = None
+    self._lead_seen_t = -1e9
+    self._extra_ids = {slot: LeadIdentity() for slot in EXTRA_LEAD_SLOTS}
+    self._extra_smooth = {slot: MarkerSmoother() for slot in EXTRA_LEAD_SLOTS}
+    self._extra_emit = dict.fromkeys(EXTRA_LEAD_SLOTS, 0)
+
+  def _gate_lead(self, lead: ModelLead, now: float) -> ModelLead:
+    # leadsV3[0].prob hovers around 0.5 in traffic; hysteresis plus a short dead-reckoned hold keeps
+    # the marker from blinking at a cadence the stock radar never produces
+    if lead.prob >= (LEAD_PROB_OFF if self._lead_on else LEAD_PROB_ON):
+      self._lead_on = True
+      self._lead_hold = lead
+      self._lead_seen_t = now
+      return lead if lead.status else ModelLead(True, lead.dRel, lead.yRel, lead.vRel, lead.prob)
+    if self._lead_on and self._lead_hold is not None and now - self._lead_seen_t < LEAD_HOLD_S:
+      h = self._lead_hold
+      return ModelLead(True, h.dRel + h.vRel * (now - self._lead_seen_t), h.yRel, h.vRel, h.prob)
+    self._lead_on = False
+    self._lead_hold = None
+    return ModelLead(False, 0.0, 0.0, 0.0)
+
+  def _lead_object_id(self, status: bool, op_id: int, stock_lead_id: int | None, in_use: set[int]) -> int:
+    if not status:
+      self._lead_id = 0
+    elif stock_lead_id is not None:
+      self._lead_id = stock_lead_id
+    elif self._lead_id == 0 or op_id != self._prev_op_id or self._lead_id in in_use:
+      # advance from the current id rather than picking the lowest free one: with no camera ids in
+      # use a handoff would keep the same id and the id-keyed smoother would slide between two cars
+      # instead of snapping
+      nxt = self._lead_id % MAX_OBJECT_ID + 1
+      while nxt in in_use:
+        nxt = nxt % MAX_OBJECT_ID + 1
+      self._lead_id = nxt
+    self._prev_op_id = op_id
+    return self._lead_id
+
+  def _update_extras(self, extra_leads, lead, in_use, now):
+    rendered = [(lead.dRel, lead.yRel)] if lead.status else []
+    out = {}
+    for slot, ex in zip(EXTRA_LEAD_SLOTS, extra_leads or (), strict=False):
+      distinct = ex.status and all(abs(ex.dRel - d) >= EXTRA_LEAD_MIN_SEP_D or
+                                   abs(ex.yRel - y) >= EXTRA_LEAD_MIN_SEP_Y
+                                   for d, y in rendered)
+      op_id = self._extra_ids[slot].update(distinct, ex.dRel, ex.vRel, now)
+      if not distinct:
+        self._extra_emit[slot] = 0
+        out[slot] = None
+        continue
+      emit = self._extra_emit[slot]
+      if emit == 0 or emit in in_use:
+        emit = op_id
+        while emit in in_use:
+          emit = emit % MAX_OBJECT_ID + 1
+        self._extra_emit[slot] = emit
+      in_use.add(emit)
+      d_rel, y_rel = self._extra_smooth[slot].update(ex.dRel, LAT_SCALE * ex.yRel, ex.vRel, emit, now)
+      rendered.append((ex.dRel, ex.yRel))
+      out[slot] = {"d_rel": d_rel, "y_rel": y_rel, "object_id": emit, "is_lead_car": 0,
+                   "car_type": CAR_TYPE_CAR, "rotation": lead_rotation(y_rel / LAT_SCALE)}
+    return out
+
+  def create(self, packer, bus, lead, tracks, mux: int, now: float, extra_leads=None):
+    lead = self._gate_lead(lead, now)
+    op_id = self._identity.update(lead.status, lead.dRel, lead.vRel, now)
+    stock_lead, in_use = None, set()
+    for t in (tracks or ()):
+      if not t.valid:
+        continue
+      if t.is_lead_car:
+        stock_lead = t
+      elif t.slot != 0:
+        in_use.add(t.object_id)
+    stock_lead_id = stock_lead.object_id if stock_lead is not None else None
+    lead_id = self._lead_object_id(lead.status, op_id, stock_lead_id, in_use)
+    if lead.status:
+      in_use.add(lead_id)
+
+    # ride the lane gain-law correction at the lead's distance so the marker tracks the lane rendering
+    lat_scale = LAT_SCALE * dash_lane.gain_correction(lead.dRel)
+    d_rel, y_rel = self._smoother.update(lead.dRel, lat_scale * lead.yRel, lead.vRel, lead_id, now)
+
+    extras = self._update_extras(extra_leads, lead, in_use, now) if tracks is None else {}
+
+    slot = (mux - 1) % 16
+    if slot == 0 and lead.status:
+      track = {"d_rel": d_rel, "y_rel": y_rel, "object_id": lead_id, "is_lead_car": 1,
+               "car_type": stock_lead.car_type if stock_lead is not None else CAR_TYPE_CAR,
+               "rotation": stock_lead.rotation if stock_lead is not None else lead_rotation(y_rel / lat_scale)}
+    elif slot in extras:
+      track = extras[slot]
+    else:
+      st = tracks[slot] if (tracks and slot < len(tracks)) else None
+      # never forward the camera's lead: if OP has no lead, the HUD must not flag one OP isn't acting on
+      track = ({"d_rel": st.d_rel, "y_rel": st.y_rel, "object_id": st.object_id, "is_lead_car": 0,
+                "car_type": st.car_type, "rotation": st.rotation}
+               if (st is not None and st.valid and not st.is_lead_car) else None)
+    return create_hud_object(packer, bus, mux, track)

artifacts/package_sources/iqdbc/iqdbc/car/honda/hondacan.py

@@ -77,7 +77,7 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint, gas_force):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force):
   commands = []
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
@@ -92,15 +92,17 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
   acc_control_values = {
     'ACCEL_COMMAND': accel_command,
     'STANDSTILL': standstill,
-    'BRAKE_REQUEST': braking,
   }
 
-  if car_fingerprint in HONDA_BOSCH_RADARLESS:
+  if CP.flags & HondaFlags.BOSCH_RADARLESS:
     acc_control_values.update({
       "CONTROL_ON": enabled,
+      # hybrid and alt-brake cars require this bit whenever braking; others use it for idle stop after 4s at 50Hz
+      "COMPUTER_BRAKE_ASSIST": braking if CP.flags & (HondaFlags.HYBRID | HondaFlags.BOSCH_ALT_BRAKE) else stopping_counter > 200,
     })
   else:
     acc_control_values.update({
+      'BRAKE_REQUEST': braking,
       # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
       "CONTROL_ON": control_on,
       "GAS_COMMAND": gas_command,  # used for gas
@@ -153,10 +155,14 @@ def create_acc_hud(packer, bus, CP, enabled, pcm_speed, pcm_accel, hud_control,
     'SET_ME_X01_2': 1,
   }
 
+  if CP.flags & HondaFlags.BOSCH_CANFD:
+    acc_hud_values['SET_ME_X01'] = int(enabled and (bool(acc_hud_values['HUD_LEAD']) or (pcm_accel < 0.2)))
+    acc_hud_values['SET_ME_X01_2'] = int(enabled and (bool(acc_hud_values['HUD_LEAD']) or (pcm_accel < 0.2)))
+
   if CP.carFingerprint in HONDA_BOSCH:
     acc_hud_values['ACC_ON'] = int(enabled)
-    acc_hud_values['FCM_OFF'] = 1
+    acc_hud_values['FCM_OFF'] = 0
-    acc_hud_values['FCM_OFF_2'] = 1
+    acc_hud_values['FCM_OFF_2'] = 0
   else:
     # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
     acc_hud_values['ACC_ON'] = int(enabled)
@@ -171,7 +177,8 @@ def create_acc_hud(packer, bus, CP, enabled, pcm_speed, pcm_accel, hud_control,
   return packer.make_can_msg("ACC_HUD", bus, acc_hud_values)
 
 
-def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available, reduced_steering, alert_steer_required, lkas_hud, dashed_lanes):
+def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available, reduced_steering, alert_steer_required, lkas_hud, dashed_lanes,
+                    steer_fault_permanent=False, lkas_state_change=None):
   commands = []
 
   lkas_hud_values = {
@@ -183,14 +190,28 @@ def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available
     'BEEP': 0,
   }
 
+  # the stock camera holds LKAS_STATE_CHANGE low, pulsing it high ~3s around HUD state changes;
+  # holding it high permanently suppresses the dash lane-line rendering
+  if lkas_state_change is not None:
+    lkas_hud_values['LKAS_STATE_CHANGE'] = int(lkas_state_change)
+
   if CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
     lkas_hud_values['LANE_LINES'] = 3
-    lkas_hud_values['DASHED_LANES'] = lat_active
+    lkas_hud_values['LKAS_PROBLEM'] = steer_fault_permanent
-
-    # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
-    # TODO: needed for Bosch CAN FD?
     if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
+      # gray lanes when disengaged
+      lkas_hud_values['DASHED_LANES'] = 1
+    else:
+      # CAN FD: dashed lanes are the AOL armed indication (dashed_lanes is aol.enabled and not
+      # latActive, which is not standstill-gated - so parked LKAS button presses produce cluster
+      # feedback). ORed with lat_active so the engaged payload keeps SOLID and DASHED set together,
+      # byte-matching the stock camera's lanes-on state
+      lkas_hud_values['DASHED_LANES'] = dashed_lanes or lat_active
+
+    if CP.carFingerprint in HONDA_BOSCH_CANFD:
+      # every payload change must coincide with an LKAS_STATE_CHANGE pulse (see carcontroller); keyed
+      # on lat_active, not lanesVisible, so the dash LKAS indication follows AOL's lateral state
+      lkas_hud_values['SOLID_LANES'] = lat_active
 
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['RDM_OFF'] = 1
@@ -225,19 +246,68 @@ def create_legacy_brake_command(packer, bus):
   return packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus, {})
 
 
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
+def spam_buttons_command(packer, CAN, cruise_button, cruise_setting, ambient_light, car_fingerprint, bus=None):
   values = {
-    'CRUISE_BUTTONS': button_val,
+    'CRUISE_BUTTONS': cruise_button,
-    'CRUISE_SETTING': 0,
+    'CRUISE_SETTING': cruise_setting,
+    # the camera consumes this byte too (adaptive high beam); echo the SCM's live value
+    'AMBIENT_LIGHT_MAYBE': ambient_light,
   }
-  # send buttons to camera on radarless (camera does ACC) cars
+  if bus is None:
-  bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
+    # send buttons to camera on radarless (camera does ACC) cars
+    bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)
 
 
+def create_radar_hud_canfd(packer, bus, acc, acc_pulse=False):
+  values = {
+    # the stock radar raises this bit only in short bursts right after ACC engages, never held
+    'CMBS_ENABLED_MAYBE': 1 if (acc and acc_pulse) else 0,
+    'ACC_ON': acc,
+    'SET_ME_X01': 0x01,
+    'SET_ME_X01_2': 0x01,
+  }
+  return packer.make_can_msg("RADAR_HUD_CANFD", bus, values)
+
+
+def create_canfd_supplemental(packer, bus):
+  values = {
+    'SET_ME_X01': 0x01,
+    'SET_ME_X41': 0x41,
+  }
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_CANFD", bus, values)
+
+
+def create_canfd_5hz_radar_messages(packer, bus, radar_ref_cntr, lane_path_length=6, left_lane=0, right_lane=0):
+  commands = []
+
+  radar_lead_values = {
+    'CNTR_REF': radar_ref_cntr,
+    'SET_ME_X01': 0x01,
+    # stock radar transmits a constant 140 here; 120 causes a camera mismatch
+    'TARGET_SPEED_MAYBE': 140,
+    'LEFT_LANE': left_lane,
+    'RIGHT_LANE': right_lane,
+    # the dash cross-checks this against the LANE_PATH in-band terminator; a mismatch suppresses the lane lines
+    'LANE_PATH_LENGTH': lane_path_length,
+  }
+  commands.append(packer.make_can_msg('RADAR_LEAD', bus, radar_lead_values))
+
+  radar_lead2_values = {
+    'SET_ME_X88': 136,
+    'SET_ME_X78': 120,
+    'LEAD_DISTANCE_MAYBE': 0,
+  }
+  commands.append(packer.make_can_msg('RADAR_LEAD2', bus, radar_lead2_values))
+
+  return commands
+
+
 def honda_checksum(address: int, sig, d: bytearray) -> int:
   s = 0
   extended = address > 0x7FF
+  # extended ids above 0x100000 use a different checksum constant, observed on Bosch CAN FD radar messages
+  high_extended = address > 0x100000
   addr = address
   while addr:
     s += addr & 0xF
@@ -249,5 +319,5 @@ def honda_checksum(address: int, sig, d: bytearray) -> int:
     s += (x & 0xF) + (x >> 4)
   s = 8 - s
   if extended:
-    s += 3
+    s += 10 if high_extended else 3
   return s & 0xF

artifacts/package_sources/iqdbc/iqdbc/car/honda/interface.py

@@ -2,7 +2,7 @@
 import numpy as np
 from iqdbc.car import get_safety_config, structs, uds
 from iqdbc.car.common.conversions import Conversions as CV
-from iqdbc.car.disable_ecu import disable_ecu
+from iqdbc.car.disable_ecu import disable_ecu, clear_all_dtcs, clear_ecu_dtcs
 from iqdbc.car.honda.hondacan import CanBus
 from iqdbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
@@ -52,9 +52,8 @@ class CarInterface(CarInterfaceBase):
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
       # If Bosch radarless, this blocks ACC messages from the camera
-      # TODO: get radar disable working on Bosch CANFD
+      ret.alphaLongitudinalAvailable = True
-      ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
+      ret.openpilotLongitudinalControl = alpha_long
-      ret.openpilotLongitudinalControl = alpha_long and (candidate not in HONDA_BOSCH_CANFD)
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
@@ -91,8 +90,10 @@ class CarInterface(CarInterfaceBase):
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
         ret.longitudinalActuatorDelay = 0.25 # s
+      elif candidate in HONDA_BOSCH_CANFD:
+        ret.longitudinalActuatorDelay = 0.05  # near zero, canfd seems to have stock feedforward correction
       else:
-        ret.longitudinalActuatorDelay = 0.5 # s
+        ret.longitudinalActuatorDelay = 0.25 # s, per Bosch A log
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kiBP = [0., 5., 35.]
@@ -110,8 +111,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
-      if candidate == CAR.HONDA_CIVIC_BOSCH:
-          CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]
 
     elif candidate == CAR.HONDA_CIVIC_2022:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5120], [0, 5120]]  # TODO: determine if there is a dead zone at the top end
@@ -228,9 +227,13 @@ class CarInterface(CarInterfaceBase):
 
     if candidate == CAR.HONDA_PILOT_4G:
       CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2200]
+    elif candidate == CAR.ACURA_RDX_3G:
+      CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2200]
+    elif candidate == CAR.HONDA_CRV_6G and ret.flags & HondaFlags.HYBRID:
+      CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.3, 2.0]
 
     # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, *HONDA_BOSCH_CANFD):
+    if 0x1BE in fingerprint[CAN.pt] and candidate in HONDA_BOSCH:
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
 
     if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@@ -247,7 +250,10 @@ class CarInterface(CarInterfaceBase):
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
+    if (ret.transmissionType == TransmissionType.manual) and (not ret.openpilotLongitudinalControl):
+      ret.autoResumeSng = False
+    else:
+      ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
     if ret.autoResumeSng:
       ret.minEnableSpeed = -1.
     elif candidate == CAR.HONDA_ODYSSEY_TWN:
@@ -277,6 +283,9 @@ class CarInterface(CarInterfaceBase):
       if 0x223 in fingerprint[CAN.pt]:
         ret.flags |= HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD.value
 
+    if 0x35E in fingerprint[CAN.pt]:
+      ret.flags |= HondaFlagsIQ.HAS_CAMERA_MESSAGES.value
+
     if candidate == CAR.HONDA_CIVIC:
       if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
         # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
@@ -349,14 +358,32 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def init(CP, CP_IQ, can_recv, can_send, communication_control=None):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      # 0x80 silences response
+      if communication_control is None and CP.carFingerprint in HONDA_BOSCH_CANFD:
-      if communication_control is None:
+        # CAN FD: only clear DTCs here; the radar silencing itself is deferred to CarController until
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
+        # the comma relay is confirmed open. init() runs while the panda is still in the ELM327 safety
-                                       uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
+        # mode, and silencing the radar from here raced the safety-mode switch: whenever the switch
-      disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control)
+        # took longer than ~110 ms after radar silence, the brake module latched CRUISE_FAULT for the
+        # entire drive.
+        #
+        # The brake module's radar lost-communication DTC matures over trips (Honda two-trip
+        # detection): once confirmed from a previous drive, the very next comm-loss detection faults
+        # ~0.16 s after the radar goes silent. Broadcast-clear stored DTCs on the powertrain and
+        # camera buses every drive to reset the maturation counter, and clear the radar's own stored
+        # DTCs so codes accumulated while it was disabled don't re-fault a later drive. Clearing must
+        # precede the radar silence because a DTC clear can take an ECU several hundred ms.
+        # NOTE: ELM327 safety mode allows the 29-bit functional diagnostic address on every bus, so
+        # the broadcast needs no TX allowlist entry in the car safety mode
+        clear_all_dtcs(can_send, [CanBus(CP).pt, CanBus(CP).camera])
+        clear_ecu_dtcs(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1)
+      else:
+        # 0x80 silences response
+        if communication_control is None:
+          communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
+                                         uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
+        disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control)
 
   @staticmethod
   def deinit(CP, can_recv, can_send):
     communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
                                    uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
-    CarInterface.init(CP, can_recv, can_send, communication_control)
+    CarInterface.init(CP, None, can_recv, can_send, communication_control)

artifacts/package_sources/iqdbc/iqdbc/car/honda/tests/test_canfd_carcontroller.py

@@ -0,0 +1,166 @@
+from iqdbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from iqdbc.car.honda.interface import CarInterface
+from iqdbc.car.honda.values import CAR
+
+CANFD_CAR = CAR.HONDA_CRV_6G
+
+RADAR_DIAG_ADDR = 0x18DAB0F1
+ACC_CONTROL_ADDR = 0x1DF
+ACC_HUD_ADDR = 0x30C
+SCM_BUTTONS_ADDR = 0x296
+RADAR_HUD_ADDR = 0x310
+LANE_PATH_ADDR = 0x6CD5558
+HUD_OBJECTS_ADDR = 0x6CD5559
+RADAR_LEAD_ADDR = 0xF31AA5C
+RADAR_LEAD2_ADDR = 0xF31AA52
+SUPPLEMENTAL_ADDR = 0x1A45AA4E
+LOOKALIKE_ADDRS = (RADAR_HUD_ADDR, LANE_PATH_ADDR, HUD_OBJECTS_ADDR, RADAR_LEAD_ADDR, RADAR_LEAD2_ADDR, SUPPLEMENTAL_ADDR)
+
+EXT_DIAG_SESSION = b'\x02\x10\x03\x00\x00\x00\x00\x00'
+COMM_CONTROL_DISABLE = b'\x03\x28\x83\x03\x00\x00\x00\x00'
+
+
+def build_long_interface():
+  fingerprint = gen_empty_fingerprint()
+  CP = CarInterface.get_params(CANFD_CAR, fingerprint, [], False, False, False)
+  CP.openpilotLongitudinalControl = True
+  CP.pcmCruise = False
+  CP_IQ = CarInterface.get_params_iq(CP, CANFD_CAR, fingerprint, [], False, False, False)
+  return CarInterface(CP, CP_IQ)
+
+
+def make_cc(enabled=True):
+  CC = structs.CarControl()
+  CC.enabled = enabled
+  CC.latActive = enabled
+  CC.longActive = enabled
+  return CC.as_reader()
+
+
+class CanfdControllerHarness:
+  def __init__(self):
+    self.ci = build_long_interface()
+    self.cs = self.ci.CS
+    self.ci.update([])
+    self.now_nanos = 0
+    self.set_radar(alive=True, relay_open=False)
+    self.set_ticks()
+
+  def set_radar(self, alive, relay_open):
+    self.cs.stock_acc_alive = alive
+    self.cs.canfd_relay_open = relay_open
+
+  def set_ticks(self, hud=False, supp=False, five=False, fifty=False):
+    self.cs.hud_tick = hud
+    self.cs.supp_tick = supp
+    self.cs.radar_5hz_tick = five
+    self.cs.radar_50hz_tick = fifty
+
+  def step(self, CC=None, model=None):
+    self.now_nanos += int(DT_CTRL * 1e9)
+    _, can_sends = self.ci.apply(CC or make_cc(), structs.IQCarControl(), self.now_nanos, model)
+    return can_sends
+
+  @staticmethod
+  def by_addr(can_sends, addr):
+    return [m for m in can_sends if m[0] == addr]
+
+
+class TestCanfdDeferredRadarDisable:
+  def setup_method(self):
+    self.h = CanfdControllerHarness()
+
+  def test_no_disable_requests_before_relay_open(self):
+    for _ in range(20):
+      sends = self.h.step()
+      assert not self.h.by_addr(sends, RADAR_DIAG_ADDR)
+      assert not self.h.by_addr(sends, ACC_CONTROL_ADDR)
+      assert not any(self.h.by_addr(sends, a) for a in LOOKALIKE_ADDRS)
+
+  def test_disable_handshake_after_relay_open(self):
+    self.h.set_radar(alive=True, relay_open=True)
+    payloads = []
+    for _ in range(101):
+      for msg in self.h.by_addr(self.h.step(), RADAR_DIAG_ADDR):
+        payloads.append(msg[1])
+    assert payloads == [EXT_DIAG_SESSION, COMM_CONTROL_DISABLE, EXT_DIAG_SESSION, COMM_CONTROL_DISABLE, EXT_DIAG_SESSION]
+
+  def test_tester_present_keeps_radar_down_once_silent(self):
+    self.h.set_radar(alive=False, relay_open=True)
+    payloads = []
+    for _ in range(60):
+      payloads += [m[1] for m in self.h.by_addr(self.h.step(), RADAR_DIAG_ADDR)]
+    assert payloads == [b'\x02\x3E\x80\x00\x00\x00\x00\x00'] * 6
+
+
+class TestCanfdReplacementStream:
+  def setup_method(self):
+    self.h = CanfdControllerHarness()
+    self.h.set_radar(alive=False, relay_open=True)
+
+  def test_acc_control_every_second_frame(self):
+    seen = [bool(self.h.by_addr(self.h.step(), ACC_CONTROL_ADDR)) for _ in range(10)]
+    assert sum(seen) == 5
+
+  def test_no_acc_control_while_stock_alive(self):
+    self.h.set_radar(alive=True, relay_open=True)
+    for _ in range(10):
+      assert not self.h.by_addr(self.h.step(), ACC_CONTROL_ADDR)
+
+  def test_lookalikes_mirrored_byte_identical_on_both_buses(self):
+    self.h.set_ticks(hud=True, supp=True, five=True, fifty=True)
+    sends = self.h.step()
+    for addr in LOOKALIKE_ADDRS:
+      msgs = self.h.by_addr(sends, addr)
+      assert len(msgs) == 2, hex(addr)
+      buses = sorted(m[2] for m in msgs)
+      assert buses == [0, 2], hex(addr)
+      assert msgs[0][1] == msgs[1][1], hex(addr)
+
+  def test_no_lookalikes_without_ticks(self):
+    sends = self.h.step()
+    for addr in (RADAR_HUD_ADDR, RADAR_LEAD_ADDR, RADAR_LEAD2_ADDR, SUPPLEMENTAL_ADDR, LANE_PATH_ADDR, HUD_OBJECTS_ADDR):
+      assert not self.h.by_addr(sends, addr)
+
+  def test_mux_sweep_contiguous_across_banks(self):
+    self.h.set_ticks(fifty=True)
+    muxes = []
+    for _ in range(45):
+      msgs = self.h.by_addr(self.h.step(), LANE_PATH_ADDR)
+      muxes.append(msgs[0][1][0] >> 2)
+    sweep = list(range(1, 11)) + list(range(17, 27)) + list(range(33, 43)) + list(range(49, 59))
+    assert muxes == (sweep + sweep)[:45]
+
+  def test_acc_hud_rides_hud_tick(self):
+    assert not self.h.by_addr(self.h.step(), ACC_HUD_ADDR)
+    self.h.set_ticks(hud=True)
+    assert self.h.by_addr(self.h.step(), ACC_HUD_ADDR)
+    self.h.set_ticks()
+    assert not self.h.by_addr(self.h.step(), ACC_HUD_ADDR)
+
+
+class TestCanfdButtonTakeover:
+  def setup_method(self):
+    self.h = CanfdControllerHarness()
+    self.h.set_radar(alive=False, relay_open=True)
+
+  def test_buttons_streamed_to_camera_while_engaged(self):
+    seen = 0
+    for _ in range(20):
+      for msg in self.h.by_addr(self.h.step(), SCM_BUTTONS_ADDR):
+        assert msg[2] == 2
+        seen += 1
+    assert seen == 5
+
+  def test_no_button_stream_when_disengaged(self):
+    for _ in range(20):
+      assert not self.h.by_addr(self.h.step(make_cc(enabled=False)), SCM_BUTTONS_ADDR)
+
+  def test_ambient_light_echoed(self):
+    self.h.cs.scm_ambient_light = 0x77
+    for _ in range(4):
+      msgs = self.h.by_addr(self.h.step(), SCM_BUTTONS_ADDR)
+      if msgs:
+        assert msgs[0][1][2] == 0x77
+        return
+    raise AssertionError("no SCM_BUTTONS takeover frame seen")

artifacts/package_sources/iqdbc/iqdbc/car/honda/tests/test_canfd_radar_state.py

@@ -0,0 +1,202 @@
+import pytest
+
+from iqdbc.can import CANPacker
+from iqdbc.car import Bus, DT_CTRL, gen_empty_fingerprint
+from iqdbc.car.honda.interface import CarInterface
+from iqdbc.car.honda.values import CAR, DBC
+from iqdbc.car.common.conversions import Conversions as CV
+
+CANFD_CAR = CAR.HONDA_CRV_6G
+RADARLESS_CAR = CAR.HONDA_CIVIC_2022
+CAMERA_MESSAGES_ADDR = 0x35E
+
+
+def build_car(candidate, extra_pt_addrs=()):
+  fingerprint = gen_empty_fingerprint()
+  for addr in extra_pt_addrs:
+    fingerprint[0][addr] = 8
+  CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False)
+  CP_IQ = CarInterface.get_params_iq(CP, candidate, fingerprint, [], False, False, False)
+  return CarInterface(CP, CP_IQ)
+
+
+class CanFeed:
+  def __init__(self, ci, dbc_name):
+    self.ci = ci
+    self.packer = CANPacker(dbc_name)
+    self.nanos = 0
+    # the first CarState.update lazily subscribes vl-read messages, so run one empty
+    # cycle before feeding data or the first fed frame of those messages is dropped
+    self.step()
+    self.ci.CS.update(self.ci.can_parsers)
+
+  def step(self, msgs=()):
+    self.nanos += int(DT_CTRL * 1e9)
+    packed = [self.packer.make_can_msg(name, bus, values) for name, bus, values in msgs]
+    for parser in self.ci.can_parsers.values():
+      parser.update([self.nanos, packed])
+
+
+class TestHondaCanfdRadarState:
+  def setup_method(self):
+    self.ci = build_car(CANFD_CAR)
+    self.cs = self.ci.CS
+    self.feed = CanFeed(self.ci, DBC[CANFD_CAR][Bus.pt])
+
+  def update(self, msgs=()):
+    self.feed.step(msgs)
+    return self.cs.update(self.ci.can_parsers)
+
+  def test_parsers_include_radar_bus(self):
+    assert Bus.radar in self.ci.can_parsers
+    assert self.ci.can_parsers[Bus.radar].bus == 1
+
+  def test_50hz_tick_fires_one_frame_before_next_tick(self):
+    ticks = []
+    for frame in range(20):
+      msgs = [("RADAR_50HZ_TICK_REFERENCE", 1, {})] if frame % 2 == 0 else []
+      self.update(msgs)
+      ticks.append(self.cs.radar_50hz_tick)
+    assert ticks[2:] == [frame % 2 == 1 for frame in range(2, 20)]
+
+  def test_hud_tick_fires_one_frame_before_next_tick(self):
+    fired = []
+    for frame in range(40):
+      msgs = [("RADAR_HUD_TICK_REFERENCE", 1, {})] if frame % 10 == 0 else []
+      self.update(msgs)
+      if self.cs.hud_tick:
+        fired.append(frame)
+    assert fired == [9, 19, 29, 39]
+
+  def test_5hz_tick_fires_at_stock_radar_lead_offset(self):
+    fired = []
+    for frame in range(60):
+      msgs = [("RADAR_REFERENCE", 0, {})] if frame % 20 == 0 else []
+      self.update(msgs)
+      if self.cs.radar_5hz_tick:
+        fired.append(frame)
+    assert fired == [11, 31, 51]
+
+  def test_stock_acc_alive_until_four_silent_frames(self):
+    for frame in range(11):
+      msgs = [("ACC_CONTROL", 0, {})] if frame % 2 == 0 else []
+      self.update(msgs)
+      assert self.cs.stock_acc_alive
+
+    silent_state = []
+    for _ in range(6):
+      self.update()
+      silent_state.append(self.cs.stock_acc_alive)
+    assert silent_state == [True, True, True, False, False, False]
+
+    self.update([("ACC_CONTROL", 0, {})])
+    assert self.cs.stock_acc_alive
+
+  def test_relay_open_when_camera_steering_disappears(self):
+    for _ in range(10):
+      self.update([("STEERING_CONTROL", 0, {})])
+      assert not self.cs.canfd_relay_open
+    assert self.cs.camera_steer_seen
+
+    open_state = []
+    for _ in range(7):
+      self.update()
+      open_state.append(self.cs.canfd_relay_open)
+    assert open_state == [False, False, False, False, True, True, True]
+
+  def test_relay_open_fallback_without_camera(self):
+    primed_frames = self.cs.canfd_frames
+    for frame in range(510):
+      self.update()
+      assert self.cs.canfd_relay_open == (primed_frames + frame + 1 >= 500)
+
+  def test_ambient_light_echoed_from_scm_buttons(self):
+    self.update([("SCM_BUTTONS", 0, {"AMBIENT_LIGHT_MAYBE": 0x5A})])
+    assert self.cs.scm_ambient_light == 0x5A
+
+
+class TestHondaNonCanfdRadarState:
+  def test_no_radar_parser_and_ticks_stay_low(self):
+    ci = build_car(RADARLESS_CAR)
+    feed = CanFeed(ci, DBC[RADARLESS_CAR][Bus.pt])
+    assert Bus.radar not in ci.can_parsers
+    for _ in range(5):
+      feed.step()
+      ci.CS.update(ci.can_parsers)
+      assert not ci.CS.radar_50hz_tick
+      assert not ci.CS.hud_tick
+      assert not ci.CS.supp_tick
+      assert not ci.CS.radar_5hz_tick
+
+
+class TestCanfdLongInterface:
+  def test_alpha_long_available_on_canfd(self):
+    CP = CarInterface.get_params(CANFD_CAR, gen_empty_fingerprint(), [], False, False, False)
+    assert CP.alphaLongitudinalAvailable
+    assert not CP.openpilotLongitudinalControl
+    assert CP.pcmCruise
+
+  def test_alpha_long_enabled_on_canfd(self):
+    CP = CarInterface.get_params(CANFD_CAR, gen_empty_fingerprint(), [], True, False, False)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.pcmCruise
+    assert CP.longitudinalActuatorDelay == pytest.approx(0.05)
+
+  def test_canfd_long_init_clears_dtcs_without_disabling_radar(self, mocker):
+    clear_all = mocker.patch("iqdbc.car.honda.interface.clear_all_dtcs")
+    clear_ecu = mocker.patch("iqdbc.car.honda.interface.clear_ecu_dtcs")
+    disable = mocker.patch("iqdbc.car.honda.interface.disable_ecu")
+
+    CP = CarInterface.get_params(CANFD_CAR, gen_empty_fingerprint(), [], True, False, False)
+    CarInterface.init(CP, None, None, None)
+    assert clear_all.call_count == 1
+    assert clear_all.call_args.args[1] == [0, 2]
+    assert clear_ecu.call_count == 1
+    assert disable.call_count == 0
+
+  def test_canfd_deinit_reenables_radar(self, mocker):
+    clear_all = mocker.patch("iqdbc.car.honda.interface.clear_all_dtcs")
+    disable = mocker.patch("iqdbc.car.honda.interface.disable_ecu")
+
+    CP = CarInterface.get_params(CANFD_CAR, gen_empty_fingerprint(), [], True, False, False)
+    CarInterface.deinit(CP, None, None)
+    assert clear_all.call_count == 0
+    assert disable.call_count == 1
+
+  def test_bosch_a_long_init_still_disables_radar(self, mocker):
+    clear_all = mocker.patch("iqdbc.car.honda.interface.clear_all_dtcs")
+    disable = mocker.patch("iqdbc.car.honda.interface.disable_ecu")
+
+    CP = CarInterface.get_params(CAR.HONDA_ACCORD, gen_empty_fingerprint(), [], True, False, False)
+    CarInterface.init(CP, None, None, None)
+    assert clear_all.call_count == 0
+    assert disable.call_count == 1
+
+
+class TestHondaDashboardSpeedLimit:
+  def build(self, candidate, with_camera_messages):
+    extra = (CAMERA_MESSAGES_ADDR,) if with_camera_messages else ()
+    return build_car(candidate, extra_pt_addrs=extra)
+
+  @pytest.mark.parametrize("sign_value,expected_mph", [(101, 25), (97, 5), (113, 85)])
+  def test_speed_limit_sign_reported(self, sign_value, expected_mph):
+    ci = self.build(RADARLESS_CAR, True)
+    feed = CanFeed(ci, DBC[RADARLESS_CAR][Bus.pt])
+    feed.step([("CAMERA_MESSAGES", 2, {"SPEED_LIMIT_SIGN": sign_value})])
+    _, ret_iq = ci.CS.update(ci.can_parsers)
+    assert ret_iq.speedLimit == pytest.approx(expected_mph * CV.MPH_TO_MS)
+
+  @pytest.mark.parametrize("sign_value", [125, 0, 32])
+  def test_invalid_sign_reports_no_limit(self, sign_value):
+    ci = self.build(RADARLESS_CAR, True)
+    feed = CanFeed(ci, DBC[RADARLESS_CAR][Bus.pt])
+    feed.step([("CAMERA_MESSAGES", 2, {"SPEED_LIMIT_SIGN": sign_value})])
+    _, ret_iq = ci.CS.update(ci.can_parsers)
+    assert ret_iq.speedLimit == 0.0
+
+  def test_without_camera_messages_flag_no_limit(self):
+    ci = self.build(RADARLESS_CAR, False)
+    feed = CanFeed(ci, DBC[RADARLESS_CAR][Bus.pt])
+    feed.step([("CAMERA_MESSAGES", 2, {"SPEED_LIMIT_SIGN": 101})])
+    _, ret_iq = ci.CS.update(ci.can_parsers)
+    assert ret_iq.speedLimit == 0.0

artifacts/package_sources/iqdbc/iqdbc/car/honda/tests/test_dash_rendering.py

@@ -0,0 +1,235 @@
+import math
+from types import SimpleNamespace
+
+import numpy as np
+
+from iqdbc.can import CANPacker
+from iqdbc.car.honda import dash_lane, dash_objects
+
+V_EGO = 30.0
+
+
+def model_at(center_y):
+  x = list(np.linspace(0.0, 110.0, 23))
+
+  def line(y):
+    return SimpleNamespace(x=x, y=[y] * len(x))
+  return SimpleNamespace(laneLines=[line(center_y + 3.3), line(center_y + 1.65), line(center_y - 1.65), line(center_y - 3.3)],
+                         laneLineProbs=[0.0, 1.0, 1.0, 0.0],
+                         leadsV3=[])
+
+
+def lane_xy(center_y):
+  m = model_at(center_y)
+  return m.laneLines[1].x, [(a + b) / 2.0 for a, b in zip(m.laneLines[1].y, m.laneLines[2].y, strict=True)]
+
+
+class TestLanePathSlew:
+  def test_first_fit_shown_unslewed(self):
+    renderer = dash_lane.LanePathRenderer()
+    lane = renderer.update(model_at(-2.0), V_EGO, 0.0)
+    assert lane.offsets == dash_lane.encode_lane_path(*lane_xy(-2.0))
+
+  def test_step_is_rate_limited(self):
+    renderer = dash_lane.LanePathRenderer()
+    prev = renderer.update(model_at(0.0), V_EGO, 0.0).offsets
+    assert all(o == 0 for o in prev)
+
+    target = dash_lane.encode_lane_path(*lane_xy(-2.0))
+    max_step = math.ceil(dash_lane.SLEW_MAX_STEP)
+    for _ in range(10):
+      cur = renderer.update(model_at(-2.0), V_EGO, 0.0).offsets
+      for p, c, t in zip(prev, cur, target, strict=True):
+        assert abs(c - p) <= max_step
+        assert abs(t - c) <= abs(t - p)
+      prev = cur
+    assert prev == target
+
+  def test_full_scale_takes_two_seconds(self):
+    renderer = dash_lane.LanePathRenderer()
+    renderer.update(model_at(0.0), V_EGO, 0.0)
+    target = dash_lane.encode_lane_path(*lane_xy(-100.0))
+    assert all(t == dash_lane.OFFSET_VALID_MAX for t in target)
+
+    n_updates = round(dash_lane.SLEW_FULL_SCALE_S * dash_lane.SLEW_RATE_HZ)
+    for i in range(n_updates):
+      lane = renderer.update(model_at(-100.0), V_EGO, 0.0)
+      if i < n_updates - 1:
+        assert lane.offsets != target
+    assert lane.offsets == target
+
+  def test_blank_resets_slew(self):
+    renderer = dash_lane.LanePathRenderer()
+    renderer.update(model_at(0.0), V_EGO, 0.0)
+    lane = renderer.update(None, V_EGO, 0.0)
+    assert lane.offsets == [dash_lane.OFFSET_UNAVAILABLE] * dash_lane.POINT_COUNT
+    lane = renderer.update(model_at(-2.0), V_EGO, 0.0)
+    assert lane.offsets == dash_lane.encode_lane_path(*lane_xy(-2.0))
+
+  def test_short_path_passthrough_and_reset(self):
+    renderer = dash_lane.LanePathRenderer()
+    renderer.update(model_at(0.0), V_EGO, 0.0)
+
+    short = model_at(-2.0)
+    for ll in short.laneLines:
+      ll.x = ll.x[:10]
+      ll.y = ll.y[:10]
+    lane = renderer.update(short, V_EGO, 0.0)
+    assert lane.offsets == [dash_lane.OFFSET_UNAVAILABLE] * dash_lane.POINT_COUNT
+
+    lane = renderer.update(model_at(-2.0), V_EGO, 0.0)
+    assert lane.offsets == dash_lane.encode_lane_path(*lane_xy(-2.0))
+
+
+class TestLaneLineHysteresis:
+  def test_single_line_offset_and_hysteresis(self):
+    renderer = dash_lane.LanePathRenderer()
+    m = model_at(0.0)
+    m.laneLineProbs = [0.0, 0.0, 1.0, 0.0]
+    lane = renderer.update(m, V_EGO, 0.0)
+    assert not lane.left_line and lane.right_line
+    assert lane.offsets == dash_lane.encode_lane_path(m.laneLines[2].x, [y - dash_lane.HALF_LANE_M for y in m.laneLines[2].y])
+
+    # a left prob between OFF and ON must not switch the left line on
+    m.laneLineProbs = [0.0, (dash_lane.LINE_PROB_OFF + dash_lane.LINE_PROB_ON) / 2, 1.0, 0.0]
+    lane = renderer.update(m, V_EGO, 0.0)
+    assert not lane.left_line
+
+    # once on, the same mid prob keeps it on
+    m.laneLineProbs = [0.0, dash_lane.LINE_PROB_ON, 1.0, 0.0]
+    assert renderer.update(m, V_EGO, 0.0).left_line
+    m.laneLineProbs = [0.0, (dash_lane.LINE_PROB_OFF + dash_lane.LINE_PROB_ON) / 2, 1.0, 0.0]
+    assert renderer.update(m, V_EGO, 0.0).left_line
+
+
+class TestCanfdReshape:
+  def test_idle_pattern_when_blank(self):
+    assert dash_lane.canfd_lane_offsets(dash_lane.RenderedLane()) == dash_lane.CANFD_IDLE_OFFSETS
+    assert dash_lane.canfd_lane_length(dash_lane.RenderedLane()) == dash_lane.CANFD_MIN_VALID_PTS
+
+  def test_terminated_prefix_matches_length_law(self):
+    for v_ego, expected in ((0.0, 7), (10.0, 15), (19.0, 23), (38.0, 23)):
+      lane = dash_lane.RenderedLane(offsets=[5] * dash_lane.POINT_COUNT, reach=1.0, v_ego=v_ego)
+      n = dash_lane.canfd_lane_length(lane)
+      assert n == expected
+      offs = dash_lane.canfd_lane_offsets(lane)
+      assert offs[:n] == [5] * n
+      assert offs[n:] == [dash_lane.OFFSET_UNAVAILABLE] * (dash_lane.POINT_COUNT - n)
+
+
+class TestMuxMapping:
+  def test_mux_cycle_covers_all_banks(self):
+    assert len(dash_lane.MUX_CYCLE) == 40
+    assert set(dash_lane.MUX_CYCLE) == set(range(1, 11)) | set(range(17, 27)) | set(range(33, 43)) | set(range(49, 59))
+
+  def test_lane_path_frame_selects_offsets_by_mux(self):
+    packer = CANPacker("honda_bosch_radarless_generated")
+    offsets = list(range(40))
+    for mux in dash_lane.MUX_CYCLE:
+      addr, dat, bus = dash_lane.create_lane_path(packer, 0, offsets, mux)
+      base = ((mux - 1) % 16) * 4
+      raw_mux = dat[0] >> 2
+      assert raw_mux == mux
+      assert base < 40
+
+
+class TestDashObjectAuthor:
+  def make_lead(self, prob=0.9, d=30.0, y=0.0, v=0.0):
+    status = prob >= dash_objects.LEAD_PROB_ON
+    return dash_objects.ModelLead(status, d, y, v, prob=prob)
+
+  def payload(self, msg):
+    return msg[1]
+
+  def test_inactive_slot_bytes_match_stock_sentinel(self):
+    packer = CANPacker("honda_common_canfd_generated")
+    author = dash_objects.DashObjectAuthor()
+    msg = author.create(packer, 0, self.make_lead(prob=0.0), None, 2, 0.0)
+    parsed_long = ((self.payload(msg)[4] << 2) | (self.payload(msg)[5] >> 6)) & 0x3FF
+    assert parsed_long == 1023
+
+  def test_lead_rendered_in_slot0_only(self):
+    packer = CANPacker("honda_common_canfd_generated")
+    author = dash_objects.DashObjectAuthor()
+    lead = self.make_lead()
+    slot0 = author.create(packer, 0, lead, None, 1, 0.0)
+    slot3 = author.create(packer, 0, lead, None, 4, 0.02)
+    assert self.payload(slot0)[1] != 0
+    assert self.payload(slot3)[1] & 0xF8 == 0
+
+  def test_lead_prob_hysteresis_and_hold(self):
+    packer = CANPacker("honda_common_canfd_generated")
+    author = dash_objects.DashObjectAuthor()
+    now = 0.0
+
+    def object_id(prob):
+      nonlocal now
+      now += 0.02
+      msg = author.create(packer, 0, self.make_lead(prob=prob), None, 1, now)
+      return self.payload(msg)[1] >> 3
+
+    assert object_id(0.6) != 0
+    # dips below ON but above OFF keep rendering
+    assert object_id(0.4) != 0
+    # a full drop is bridged for LEAD_HOLD_S
+    assert object_id(0.0) != 0
+    now += dash_objects.LEAD_HOLD_S
+    assert object_id(0.0) == 0
+
+  def test_reid_on_range_discontinuity(self):
+    ident = dash_objects.LeadIdentity()
+    now = 0.0
+    first = ident.update(True, 30.0, 0.0, now)
+    # stay steady past the re-id refractory window
+    for _ in range(int(dash_objects.REID_REFRACTORY / 0.02) + 10):
+      now += 0.02
+      same = ident.update(True, 30.0, 0.0, now)
+      assert same == first
+    now += 0.02
+    assert ident.update(True, 60.0, 0.0, now) != first
+
+  def test_camera_lead_never_forwarded(self):
+    packer = CANPacker("honda_bosch_radarless_generated")
+    author = dash_objects.DashObjectAuthor()
+    tracks = [dash_objects.CameraObject(slot=i, object_id=0, d_rel=0.0, y_rel=0.0, is_lead_car=False, valid=False)
+              for i in range(dash_objects.NUM_SLOTS)]
+    tracks[0] = dash_objects.CameraObject(slot=0, object_id=9, d_rel=40.0, y_rel=0.0, is_lead_car=True, valid=True,
+                                          car_type=7, rotation=0)
+    msg = author.create(packer, 0, self.make_lead(prob=0.0), tracks, 1, 0.0)
+    assert self.payload(msg)[1] >> 3 == 0
+
+  def test_adjacent_car_forwarded_with_own_mux(self):
+    packer = CANPacker("honda_bosch_radarless_generated")
+    tracks = [dash_objects.CameraObject(slot=i, object_id=0, d_rel=0.0, y_rel=0.0, is_lead_car=False, valid=False)
+              for i in range(dash_objects.NUM_SLOTS)]
+    tracks[3] = dash_objects.CameraObject(slot=3, object_id=12, d_rel=25.0, y_rel=3.0, is_lead_car=False, valid=True,
+                                          car_type=7, rotation=1)
+    msg = dash_objects.forward_hud_object(packer, 0, 20, tracks)
+    assert msg[1][0] >> 2 == 20
+    assert msg[1][1] >> 3 == 12
+
+
+class TestCameraObjectTracker:
+  def test_tracks_persist_across_banks(self):
+    tracker = dash_objects.CameraObjectTracker()
+
+    class FakeParser:
+      vl_all = {"HUD_OBJECTS": {
+        "MUX": [2, 18], "OBJECT_ID": [5, 5], "LONG_DIST": [30.0, 31.0], "LAT_DIST": [1.0, 1.1],
+        "IS_LEAD_CAR": [0, 0], "CAR_TYPE": [7, 7], "ROTATION": [0, 0],
+      }}
+    tracker.update(FakeParser())
+    snap = tracker.snapshot()
+    assert snap[1].valid and snap[1].object_id == 5
+    assert snap[1].d_rel == 31.0
+
+  def test_empty_sentinel_invalid(self):
+    tracker = dash_objects.CameraObjectTracker()
+
+    class FakeParser:
+      vl_all = {"HUD_OBJECTS": {
+        "MUX": [1], "OBJECT_ID": [0], "LONG_DIST": [196.9], "LAT_DIST": [204.7],
+        "IS_LEAD_CAR": [0], "CAR_TYPE": [-1], "ROTATION": [-128],
+      }}
+    tracker.update(FakeParser())
+    assert not tracker.snapshot()[0].valid

artifacts/package_sources/iqdbc/iqdbc/car/honda/values.py

@@ -32,7 +32,7 @@ class CarControllerParams:
   BOSCH_ACCEL_MIN = -3.5  # m/s^2
   BOSCH_ACCEL_MAX = 2.0  # m/s^2
 
-  BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
+  BOSCH_GAS_LOOKUP_BP = [0.0, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]
 
   STEER_STEP = 1  # 100 Hz
@@ -132,7 +132,7 @@ class HondaBoschPlatformConfig(PlatformConfig):
 
 @dataclass
 class HondaBoschCANFDPlatformConfig(HondaBoschPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'honda_common_canfd_generated'})
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'honda_common_canfd_generated', Bus.radar: 'honda_common_canfd_generated'})
 
   def init(self):
     super().init()

artifacts/package_sources/iqdbc/iqdbc/car/interfaces.py

@@ -115,9 +115,12 @@ class CarInterfaceBase(ABC, CarInterfaceBaseIQ):
     dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
     self.CC: CarControllerBase = self.CarController(dbc_names, CP, CP_IQ)
 
-  def apply(self, c: structs.CarControl, c_iq: structs.IQCarControl, now_nanos: int | None = None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
+  def apply(self, c: structs.CarControl, c_iq: structs.IQCarControl, now_nanos: int | None = None,
+            model=None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     if now_nanos is None:
       now_nanos = int(time.monotonic() * 1e9)
+    # modelV2 for cars that render it on the dash; an attr so every CarController.update keeps its signature
+    self.CC.model = model
     return self.CC.update(c, c_iq, self.CS, now_nanos)
 
   @staticmethod
@@ -432,6 +435,7 @@ class CarControllerBase(ABC):
     self.CP_IQ = CP_IQ
     self.frame = 0
     self.secoc_key: bytes = b"00" * 16
+    self.model = None
 
   @abstractmethod
   def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:

artifacts/package_sources/iqdbc/iqdbc/car/tests/test_disable_ecu.py

@@ -0,0 +1,93 @@
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.disable_ecu import (CLEAR_DTC_ISOTP_SF, CLEAR_DTC_REQUEST, EXT_DIAG_REQUEST,
+                                   FUNCTIONAL_ADDR_29BIT, clear_all_dtcs, clear_ecu_dtcs, disable_ecu)
+
+RADAR_ADDR = 0x18DAB0F1
+COM_CONT_REQUEST = b'\x28\x83\x03'
+
+
+class QueryRecorder:
+  def __init__(self):
+    self.requests = []
+
+  def make_fake_query(self):
+    recorder = self
+
+    class FakeIsoTpParallelQuery:
+      def __init__(self, can_send, can_recv, bus, addrs, requests, responses, response_offset=0x8):
+        self.bus = bus
+        self.addrs = addrs
+        self.request = requests[0]
+        recorder.requests.append((bus, addrs[0][0], requests[0]))
+
+      def get_data(self, timeout):
+        return {(self.addrs[0][0], None): b''}
+
+    return FakeIsoTpParallelQuery
+
+
+def test_clear_all_dtcs_broadcasts_single_frame():
+  sent = []
+  clear_all_dtcs(lambda msgs: sent.extend(msgs), [0, 2])
+
+  assert sent == [
+    CanData(FUNCTIONAL_ADDR_29BIT, CLEAR_DTC_ISOTP_SF, 0),
+    CanData(FUNCTIONAL_ADDR_29BIT, CLEAR_DTC_ISOTP_SF, 2),
+  ]
+
+
+def test_clear_dtc_isotp_framing():
+  assert len(CLEAR_DTC_ISOTP_SF) == 8
+  assert CLEAR_DTC_ISOTP_SF[0] == len(CLEAR_DTC_REQUEST)
+  assert CLEAR_DTC_ISOTP_SF[1:1 + len(CLEAR_DTC_REQUEST)] == CLEAR_DTC_REQUEST
+  assert CLEAR_DTC_REQUEST == b'\x14\xff\xff\xff'
+
+
+def test_clear_ecu_dtcs_sequence(mocker):
+  recorder = QueryRecorder()
+  mocker.patch("iqdbc.car.disable_ecu.IsoTpParallelQuery", recorder.make_fake_query())
+
+  assert clear_ecu_dtcs(None, None, bus=0, addr=RADAR_ADDR)
+  assert recorder.requests == [
+    (0, RADAR_ADDR, EXT_DIAG_REQUEST),
+    (0, RADAR_ADDR, CLEAR_DTC_REQUEST),
+  ]
+
+
+def test_disable_ecu_sequence(mocker):
+  recorder = QueryRecorder()
+  mocker.patch("iqdbc.car.disable_ecu.IsoTpParallelQuery", recorder.make_fake_query())
+
+  assert disable_ecu(None, None, bus=1, addr=RADAR_ADDR, com_cont_req=COM_CONT_REQUEST)
+  assert recorder.requests == [
+    (1, RADAR_ADDR, EXT_DIAG_REQUEST),
+    (1, RADAR_ADDR, COM_CONT_REQUEST),
+  ]
+
+
+def test_disable_ecu_clears_dtcs_before_comm_control(mocker):
+  recorder = QueryRecorder()
+  mocker.patch("iqdbc.car.disable_ecu.IsoTpParallelQuery", recorder.make_fake_query())
+
+  assert disable_ecu(None, None, bus=1, addr=RADAR_ADDR, com_cont_req=COM_CONT_REQUEST, clear_dtc=True)
+  assert recorder.requests == [
+    (1, RADAR_ADDR, EXT_DIAG_REQUEST),
+    (1, RADAR_ADDR, CLEAR_DTC_REQUEST),
+    (1, RADAR_ADDR, COM_CONT_REQUEST),
+  ]
+
+
+def test_disable_ecu_retries_then_fails(mocker):
+  attempts = []
+
+  class NoResponseQuery:
+    def __init__(self, can_send, can_recv, bus, addrs, requests, responses, response_offset=0x8):
+      attempts.append(requests[0])
+
+    def get_data(self, timeout):
+      return {}
+
+  mocker.patch("iqdbc.car.disable_ecu.IsoTpParallelQuery", NoResponseQuery)
+
+  assert not disable_ecu(None, None, addr=RADAR_ADDR, retry=3)
+  assert attempts == [EXT_DIAG_REQUEST] * 3

artifacts/package_sources/iqdbc/iqdbc/dbc/generator/honda/_bosch_2018.dbc

@@ -128,6 +128,7 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
 BO_ 662 SCM_BUTTONS: 4 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
 
@@ -205,6 +206,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 
 CM_ SG_ 228 DRIVER_OVERRIDE "Appears to acknowledge STEER_STATUS.NO_TORQUE_ALERT_1";
+CM_ SG_ 662 AMBIENT_LIGHT_MAYBE "Slow-moving sensor value (possibly the ambient light input for adaptive high beam), undecoded. The camera consumes SCM_BUTTONS content beyond the buttons, so frames sent in its place must echo this byte";
 CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
 CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
 CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";

artifacts/package_sources/iqdbc/iqdbc/dbc/generator/honda/_lkas_hud_8byte.dbc

@@ -21,9 +21,71 @@ BO_ 829 LKAS_HUD: 8 ADAS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
+BO_ 254913108 LKAS_HUD_2: 8 ADAS
+ SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_WIDTH : 15|6@0+ (1,0) [0|63] "" XXX
+ SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LANE_CROSSED : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_CROSSED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_LENGTH : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 114120023 HUD_OBJECTS: 8 CAM
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ OBJECT_ID m1 : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ IS_LEAD_CAR m1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_TYPE m1 : 23|4@0- (1,0) [-8|7] "" XXX
+ SG_ ROTATION m1 : 31|8@0- (1,0) [-128|127] "" XXX
+ SG_ LONG_DIST m1 : 39|10@0+ (0.209,-16.9) [-16.9|196.9] "m" XXX
+ SG_ LAT_DIST m1 : 43|12@0- (0.1,0) [-204.8|204.7] "m" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 114120025 HUD_OBJECTS_B: 8 XXX
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ OBJECT_ID m1 : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ IS_LEAD_CAR m1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_TYPE m1 : 23|4@0- (1,0) [-8|7] "" XXX
+ SG_ ROTATION m1 : 31|8@0- (1,0) [-128|127] "" XXX
+ SG_ LONG_DIST m1 : 39|10@0+ (0.209,-16.9) [-16.9|196.9] "m" XXX
+ SG_ LAT_DIST m1 : 43|12@0- (0.1,0) [-204.8|204.7] "m" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 114120020 LANE_PATH: 8 CAM
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ PATH_OFFSET_1 m1 : 15|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_2 m1 : 19|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_3 m1 : 39|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_4 m1 : 43|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 114120024 LANE_PATH_B: 8 XXX
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ PATH_OFFSET_1 m1 : 15|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_2 m1 : 19|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_3 m1 : 39|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_4 m1 : 43|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
 CM_ SG_ 829 CAM_TEMP_HIGH "Some Driver Assist Systems Cannot Operate: Camera Temperature Too High";
 CM_ SG_ 829 CAMERA_OVERHEAT "Lane Keeping Assist Cannot Operate: Camera Too Hot";
+CM_ SG_ 114120023 MUX "1-10, 17-26, 33-42, 49-58 map to the same 10 slots for 5Hz frequency each";
+CM_ SG_ 114120023 IS_LEAD_CAR "1 when this track is the lead car; the lead, when present, is always track index 1";
+CM_ SG_ 114120023 LAT_DIST "positive = left of ego, 204.7 (max value) when inactive";
+CM_ SG_ 114120023 ROTATION "0 straight, negative left, positive right. Range of -3 to 3 seen so far. -128 when inactive.";
+CM_ SG_ 114120025 MUX "1-10, 17-26, 33-42, 49-58 map to the same 10 slots for 5Hz frequency each";
+CM_ SG_ 114120025 IS_LEAD_CAR "1 when this track is the lead car; the lead, when present, is always track index 1";
+CM_ SG_ 114120025 LAT_DIST "positive = left of ego, 204.7 (max value) when inactive";
+CM_ SG_ 114120025 ROTATION "0 straight, negative left, positive right. Range of -3 to 3 seen so far. -128 when inactive.";
 
 VAL_ 829 BEEP 5 "solid_beep" 4 "double_beep" 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
 VAL_ 829 LANE_LINES 7 "both_lines_green" 6 "both_lines_white" 2 "left_line_white" 0 "no_lines";
+VAL_ 114120023 CAR_TYPE 7 "CAR" 6 "MOTORCYCLE" -7 "TRUCK" -1 "INACTIVE" 0 "UNKNOWN";
+VAL_ 114120025 CAR_TYPE 7 "CAR" 6 "MOTORCYCLE" -7 "TRUCK" -1 "INACTIVE" 0 "UNKNOWN";

artifacts/package_sources/iqdbc/iqdbc/dbc/generator/honda/honda_bosch_radarless.dbc

@@ -7,7 +7,7 @@ CM_ "IMPORT _gearbox_common.dbc";
 
 BO_ 456 ACC_CONTROL: 8 XXX
  SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
- SG_ BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ COMPUTER_BRAKE_ASSIST : 8|1@0+ (1,0) [0|1] "" XXX
  SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
  SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
@@ -34,17 +34,7 @@ BO_ 495 SPEED_LIMIT_DASH_DISPLAY: 8 ADAS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
-BO_ 254913108 LKAS_HUD_2: 8 ADAS
+CM_ SG_ 456 COMPUTER_BRAKE_ASSIST "on hybrid and alt-brake cars set whenever braking; otherwise allows engine idle stop at a standstill";
- SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_BOH_1 : 15|6@0+ (1,0) [0|63] "" XXX
- SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ LKAS_BOH_2 : 30|5@0+ (1,0) [0|31] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
 CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
 CM_ SG_ 495 SPEED_LIMIT "Defaults to 0xFF if no speed limit found";
 

artifacts/package_sources/iqdbc/iqdbc/dbc/generator/honda/honda_common_canfd.dbc

@@ -5,3 +5,71 @@ CM_ "IMPORT _lkas_hud_8byte.dbc";
 CM_ "IMPORT _bosch_standstill.dbc";
 CM_ "IMPORT _steering_sensors_a.dbc";
 CM_ "IMPORT _gearbox_common.dbc";
+
+BO_ 929 RADAR_REFERENCE: 8 XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 784 RADAR_HUD_CANFD: 8 XXX
+ SG_ SET_ME_X01 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X01_2 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CMBS_ENABLED_MAYBE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ON : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 114120024 LANE_PATH: 8 XXX
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ PATH_OFFSET_1 m1 : 15|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_2 m1 : 19|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_3 m1 : 39|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_4 m1 : 43|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 114120025 HUD_OBJECTS: 8 XXX
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ OBJECT_ID m1 : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ IS_LEAD_CAR m1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_TYPE m1 : 23|4@0- (1,0) [-8|7] "" XXX
+ SG_ ROTATION m1 : 31|8@0- (1,0) [-128|127] "" XXX
+ SG_ LONG_DIST m1 : 39|10@0+ (0.209,-16.9) [-16.9|196.9] "m" XXX
+ SG_ LAT_DIST m1 : 43|12@0- (0.1,0) [-204.8|204.7] "m" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 254913106 RADAR_LEAD2: 8 XXX
+ SG_ SET_ME_X88 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X78 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE_MAYBE : 23|11@0+ (1,0) [0|2047] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 254913116 RADAR_LEAD: 8 XXX
+ SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CNTR_REF : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ TARGET_SPEED_MAYBE : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ LANE_PATH_LENGTH : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 440773198 BOSCH_SUPPLEMENTAL_CANFD: 8 XXX
+ SG_ SET_ME_X01 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X41 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1808 RADAR_SUPP_TICK_REFERENCE: 32 XXX
+ SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1840 RADAR_HUD_TICK_REFERENCE: 6 XXX
+ SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1872 RADAR_50HZ_TICK_REFERENCE: 16 XXX
+ SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 254913116 LANE_PATH_LENGTH "number of valid LANE_PATH points in the current sweep (6 = idle/no lane, up to 23-24); the dash needs this to match the in-band 2047 terminator to draw the lane lines";
+CM_ SG_ 254913116 LEFT_LANE "3 = left lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 1 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 LEFT_LANE; the dash won't draw the lane lines while both are 0";
+CM_ SG_ 254913116 RIGHT_LANE "3 = right lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 0 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 RIGHT_LANE; the dash won't draw the lane lines while both are 0";

artifacts/package_sources/iqdbc/iqdbc/lvbs/car/honda/iq_carstate.py

@@ -4,6 +4,8 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
 from enum import StrEnum
 
 from iqdbc.car import Bus, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS
 from iqdbc.can.parser import CANParser
 from iqdbc.lvbs.car.honda.iq_values import HondaFlagsIQ
 
@@ -13,10 +15,15 @@ class IQCarState:
     self.CP = CP
     self.CP_IQ = CP_IQ
 
-  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
 
+    if self.CP_IQ.flags & HondaFlagsIQ.HAS_CAMERA_MESSAGES:
+      speed_bus = cp if (self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD)) else cp_cam
+      speed_limit_raw = speed_bus.vl["CAMERA_MESSAGES"]["SPEED_LIMIT_SIGN"] % 32
+      ret_iq.speedLimit = speed_limit_raw * 5.0 * CV.MPH_TO_MS if (1 <= speed_limit_raw <= 17) else 0.0
+
     if self.CP_IQ.flags & HondaFlagsIQ.NIDEC_HYBRID:
       ret.accFaulted = bool(cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_2"])
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE_HYBRID"] > 1e-5)

artifacts/package_sources/iqdbc/iqdbc/lvbs/car/honda/iq_values.py

@@ -9,10 +9,9 @@ class HondaFlagsIQ(IntFlag):
   NIDEC_HYBRID = 1
   EPS_MODIFIED = 2
   HYBRID_ALT_BRAKEHOLD = 4
+  HAS_CAMERA_MESSAGES = 8
 
 
 class HondaSafetyFlagsIQ:
   NIDEC_HYBRID = 1
   GAS_INTERCEPTOR = 2
-
-

artifacts/package_sources/iqdbc/iqdbc/lvbs/car/honda/test_honda.py

@@ -6,7 +6,7 @@ from types import SimpleNamespace
 
 from iqdbc.can import CANParser
 from iqdbc.car import Bus, gen_empty_fingerprint
-from iqdbc.car.structs import CarParams, CarState
+from iqdbc.car.structs import CarParams, CarState, IQCarState as IQCarStateStruct
 from iqdbc.car.car_helpers import interfaces
 from iqdbc.car.honda.values import CAR
 from iqdbc.lvbs.car.honda.iq_carstate import IQCarState
@@ -36,12 +36,13 @@ class TestHondaGasInterceptor:
     parser = CANParser("acura_ilx_2016_can_generated", [], 0)
     state = IQCarState(CP, CP_IQ)
     ret = CarState()
+    ret_iq = IQCarStateStruct()
 
-    state.update(ret, {Bus.pt: parser, Bus.cam: parser})
+    state.update(ret, ret_iq, {Bus.pt: parser, Bus.cam: parser})
     assert "GAS_SENSOR" in parser.vl
     assert not ret.gasPressed
 
     parser.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] = 493
     parser.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"] = 493
-    state.update(ret, {Bus.pt: parser, Bus.cam: parser})
+    state.update(ret, ret_iq, {Bus.pt: parser, Bus.cam: parser})
     assert ret.gasPressed

artifacts/package_sources/iqdbc/iqdbc/safety/modes/honda.h

@@ -43,6 +43,9 @@ static bool honda_bosch_long = false;
 static bool honda_bosch_radarless = false;
 static bool honda_bosch_canfd = false;
 static bool honda_nidec_hybrid = false;
+// counts down on each stock SCM_BUTTONS rx, topped up on each OP SCM_BUTTONS tx to the camera:
+// the stock buttons are only blocked from forwarding while OP's replacement stream is actually flowing
+static int honda_op_buttons_fresh = 0;
 typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
 static HondaHw honda_hw = HONDA_NIDEC;
 
@@ -130,6 +133,11 @@ static void honda_rx_hook(const CANPacket_t *msg) {
   // state machine to enter and exit controls for button enabling
   // 0x1A6 for the ILX, 0x296 for the Civic Touring
   if (((msg->addr == 0x1A6U) || (msg->addr == 0x296U)) && (msg->bus == pt_bus)) {
+    // stock buttons act as the clock for the OP button takeover freshness (see honda_bosch_fwd_hook)
+    if (honda_op_buttons_fresh > 0) {
+      honda_op_buttons_fresh--;
+    }
+
     int button = (msg->data[0] & 0xE0U) >> 5;
 
     int cruise_setting = (msg->data[(msg->addr == 0x296U) ? 0U : 5U] & 0x0CU) >> 2U;
@@ -222,7 +230,7 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
     .min_accel = -350,
     .zero_accel = 0,
 
-    .max_gas = 2000,
+    .max_gas = 2200,
     .inactive_gas = -30000,
   };
 
@@ -315,15 +323,36 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
   // 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 ((msg->addr == 0x296U) && !controls_allowed && (msg->bus == bus_buttons)) {
+  // On CAN FD and radarless, buttons are also sent to the camera (bus 2) to take over SCM_BUTTONS
+  // while engaged, so the same check applies there
+  const bool is_buttons_bus = (msg->bus == bus_buttons) || ((honda_bosch_canfd || honda_bosch_radarless) && (msg->bus == 2U));
+  if ((msg->addr == 0x296U) && !controls_allowed && is_buttons_bus) {
     if (((msg->data[0] >> 5) & 0x7U) != 2U) {
       tx = false;
     }
   }
 
+  // OP is streaming SCM_BUTTONS to the camera: block the stock buttons from forwarding while this
+  // stream stays fresh (see honda_bosch_fwd_hook). Topped up here so the block fails safe: if OP
+  // stops sending, the stock buttons resume forwarding within ~10 button frames (~0.4 s)
+  if (tx && (msg->addr == 0x296U) && (msg->bus == 2U)) {
+    honda_op_buttons_fresh = 10;
+  }
+
   // Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
+  // On CAN FD the radar is silenced from CarController after the relay opens (init() under the ELM327
+  // mode raced the safety-mode switch and latched CRUISE_FAULT), so additionally allow exactly the
+  // extended-diagnostic-session request and the suppressed-response CommunicationControl disableRxAndTx.
+  // The corresponding enable stays blocked: re-enabling the radar into OP's ACC_CONTROL stream would
+  // double up control messages while driving
   if (msg->addr == 0x18DAB0F1U) {
-    if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
+    const uint32_t first_bytes = GET_BYTES(msg, 0, 4);
+    bool allowed = (first_bytes == 0x00803E02U);
+    if (honda_bosch_canfd) {
+      allowed = allowed || (first_bytes == 0x00031002U);
+      allowed = allowed || (first_bytes == 0x03832803U);
+    }
+    if (!allowed || (GET_BYTES(msg, 4, 4) != 0x0U)) {
       tx = false;
     }
   }
@@ -362,6 +391,7 @@ static safety_config honda_nidec_init(uint16_t param) {
   honda_bosch_long = false;
   honda_bosch_radarless = false;
   honda_bosch_canfd = false;
+  honda_op_buttons_fresh = 0;
 
   safety_config ret;
 
@@ -424,12 +454,29 @@ static safety_config honda_bosch_init(uint16_t param) {
                                               {0x33DA, 1, 5, .check_relay = true}, {0x33DB, 1, 8, .check_relay = true}, {0x39F, 1, 8, .check_relay = false},
                                               {0x18DAB0F1, 1, 8, .check_relay = false}};  // Bosch w/ gas and brakes
 
-  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};  // Bosch radarless
+  static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true},
+                                             {0x6CD5554, 0, 8, .check_relay = true}, {0xF31AA54, 0, 8, .check_relay = true},
+                                             {0x6CD5557, 0, 8, .check_relay = true}};  // Bosch radarless (LANE_PATH/LKAS_HUD_2/HUD_OBJECTS authored in stock ACC too)
 
   static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
-                                                  {0x30C, 0, 8, .check_relay = true}};  // Bosch radarless w/ gas and brakes
+                                                  {0x30C, 0, 8, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x6CD5554, 0, 8, .check_relay = true},
+                                                  {0xF31AA54, 0, 8, .check_relay = true}, {0x6CD5557, 0, 8, .check_relay = true}};  // Bosch radarless w/ gas and brakes
 
-  static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
+  // 0x296 on bus 2: OP takes over SCM_BUTTONS towards the camera to auto-disable stock LKAS and to block
+  // the driver's LKAS button while engaged (the physical SCM_BUTTONS is blocked from forwarding, see fwd hook)
+  static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x296, 2, 4, .check_relay = false},
+                                         {0x33D, 0, 8, .check_relay = true}};
+
+  // The radar look-alikes (0x310, 0x6CD5558, 0x6CD5559, 0xF31AA52, 0xF31AA5C, 0x1A45AA4E) are consumed by both
+  // the camera (behind the relay on the camera bus, 2) and the powertrain (radar bus, 0). openpilot TX is not
+  // forwarded across the open relay, so each is sent on both buses; the control messages stay on bus 0
+  static CanMsg HONDA_CANFD_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x1DF, 0, 8, .check_relay = true}, {0x1EF, 0, 8, .check_relay = false},
+                                              {0x30C, 0, 8, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}, {0x296, 2, 4, .check_relay = false},
+                                              {0x39F, 0, 8, .check_relay = false}, {0x18DAB0F1, 0, 8, .check_relay = false},
+                                              {0x310, 0, 8, .check_relay = false}, {0x6CD5558, 0, 8, .check_relay = true}, {0x6CD5559, 0, 8, .check_relay = false},
+                                              {0xF31AA52, 0, 8, .check_relay = false}, {0xF31AA5C, 0, 8, .check_relay = true}, {0x1A45AA4E, 0, 8, .check_relay = false},
+                                              {0x310, 2, 8, .check_relay = false}, {0x6CD5558, 2, 8, .check_relay = true}, {0x6CD5559, 2, 8, .check_relay = false},
+                                              {0xF31AA52, 2, 8, .check_relay = false}, {0xF31AA5C, 2, 8, .check_relay = true}, {0x1A45AA4E, 2, 8, .check_relay = false}};
 
 
   const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
@@ -458,6 +505,7 @@ static safety_config honda_bosch_init(uint16_t param) {
 
   honda_hw = HONDA_BOSCH;
   honda_brake_switch_prev = false;
+  honda_op_buttons_fresh = 0;
   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
@@ -491,7 +539,11 @@ static safety_config honda_bosch_init(uint16_t param) {
       SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret);
     }
   } else if (honda_bosch_canfd) {
-    SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
+    if (honda_bosch_long) {
+      SET_TX_MSGS(HONDA_CANFD_LONG_TX_MSGS, ret);
+    } else {
+      SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
+    }
   } else {
     if (honda_bosch_long) {
       SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret);
@@ -524,10 +576,34 @@ const safety_hooks honda_nidec_hooks = {
   .compute_checksum = honda_compute_checksum,
 };
 
+static bool honda_bosch_fwd_hook(int bus_num, int addr) {
+  bool block_msg = false;
+
+  // On radarless and CAN FD, OP takes over SCM_BUTTONS (0x296) towards the camera when engaged, to
+  // auto-disable stock LKAS and block the driver's LKAS button (the touch-steering-wheel timer would
+  // otherwise force a disengagement). Only block the stock buttons while OP's replacement stream is
+  // actually flowing (honda_op_buttons_fresh): the camera needs SCM_BUTTONS content beyond the buttons
+  // (it raises an adaptive high beam error when the message goes missing), so a bare controls_allowed
+  // gate would starve it whenever the panda allows controls but OP refuses to engage
+  if ((honda_bosch_radarless || honda_bosch_canfd) && controls_allowed && (honda_op_buttons_fresh > 0) &&
+      (bus_num == 0) && (addr == 0x296)) {
+    block_msg = true;
+  }
+
+  // CAN FD: the radar disable handshake happens after the relay is open, so block the radar's UDS
+  // responses from forwarding to the camera (the camera doesn't need them)
+  if (honda_bosch_canfd && (bus_num == 0) && (addr == 0x18DAF1B0)) {
+    block_msg = true;
+  }
+
+  return block_msg;
+}
+
 const safety_hooks honda_bosch_hooks = {
   .init = honda_bosch_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
+  .fwd = honda_bosch_fwd_hook,
   .get_counter = honda_get_counter,
   .get_checksum = honda_get_checksum,
   .compute_checksum = honda_compute_checksum,

artifacts/package_sources/iqdbc/iqdbc/safety/tests/common.py

@@ -843,7 +843,10 @@ class SafetyTest(SafetyTestBase):
   SCANNED_ADDRS = [*range(0x800),                      # Entire 11-bit CAN address space
                    *range(0x18DA00F1, 0x18DB00F1, 0x100),   # 29-bit UDS physical addressing
                    *range(0x18DB00F1, 0x18DC00F1, 0x100),   # 29-bit UDS functional addressing
-                   *range(0x3300, 0x3400)]                  # Honda
+                   *range(0x3300, 0x3400),                  # Honda
+                   *range(0x6CD5554, 0x6CD555A),            # Honda Bosch LANE_PATH, HUD_OBJECTS (camera and radar variants)
+                   0xF31AA52, 0xF31AA54, 0xF31AA5C,         # Honda Bosch RADAR_LEAD2, LKAS_HUD_2, RADAR_LEAD
+                   0x1A45AA4E]                              # Honda Bosch BOSCH_SUPPLEMENTAL_CANFD
   FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}  # {bus: [addr]}
   FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}
 
@@ -959,10 +962,14 @@ class SafetyTest(SafetyTestBase):
             if attr in ('TestVolkswagenMqbLongSafety', 'TestVolkswagenMlbLongSafety') and current_test.startswith('TestHondaBoschRadarless'):
               tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
 
+            # Volkswagen MQB/MLB and Honda Bosch CANFD ACC HUD messages overlap
+            if attr in ('TestVolkswagenMqbLongSafety', 'TestVolkswagenMlbLongSafety') and current_test.startswith('TestHondaBoschCANFD'):
+              tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
+
             # TODO: Temporary, should be fixed in panda firmware, safety_honda.h
             if attr.startswith('TestHonda'):
               # exceptions for common msgs across different hondas
-              tx = list(filter(lambda m: m[0] not in [0x1FA, 0x30C, 0x33D, 0x33DB], tx))
+              tx = list(filter(lambda m: m[0] not in [0x1FA, 0x30C, 0x33D, 0x33DB, 0x6CD5554, 0xF31AA54, 0x6CD5557], tx))
 
             if attr.startswith('TestHyundaiLongitudinal'):
               # exceptions for common msgs across different Hyundai CAN platforms

artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_honda.py

@@ -31,6 +31,8 @@ class Btn:
 #    * Bosch with Longitudinal Support
 #  * Bosch Radarless
 #    * Bosch Radarless with Longitudinal Support
+#  * Bosch CANFD
+#    * Bosch CANFD with Longitudinal Support
 
 
 class HondaButtonEnableBase(common.CarSafetyTest):
@@ -372,6 +374,14 @@ class TestHondaNidecSafetyBase(HondaBase):
             send = brake == 0
           self.assertEqual(send, self._tx(self._send_brake_msg(brake)))
 
+    # Inactive brake must pass when gas blocks longitudinal actuation
+    self.safety.set_honda_fwd_brake(False)
+    self.safety.set_controls_allowed(True)
+    self.safety.set_gas_pressed_prev(True)
+    self.assertFalse(self.safety.get_longitudinal_allowed())
+    self.assertTrue(self._tx(self._send_brake_msg(0)))
+    self.assertFalse(self._tx(self._send_brake_msg(1)))
+
 
 class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
   """
@@ -536,7 +546,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
     Covers the Honda Bosch safety mode with longitudinal control
   """
   NO_GAS = -30000
-  MAX_GAS = 2000
+  MAX_GAS = 2200
   MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
   MIN_ACCEL = -3.5
 
@@ -570,10 +580,16 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
     not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
     self.assertFalse(self._tx(not_tester_present))
 
+    # the radar disable requests are only allowed on CANFD
+    ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
+    self.assertFalse(self._tx(ext_diag))
+    comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
+    self.assertFalse(self._tx(comm_control_disable))
+
   def test_gas_safety_check(self):
     for controls_allowed in [True, False]:
       for gas in np.arange(self.NO_GAS, self.MAX_GAS + 2000, 100):
-        accel = 0 if gas < 0 else gas / 1000
+        accel = 0 if gas < 0 else min(gas / 1000, self.MAX_ACCEL)
         self.safety.set_controls_allowed(controls_allowed)
         send = (controls_allowed and 0 <= gas <= self.MAX_GAS) or gas == self.NO_GAS
         self.assertEqual(send, self._tx(self._send_gas_brake_msg(gas, accel)), (controls_allowed, gas, accel))
@@ -593,14 +609,41 @@ class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
   STEER_BUS = 0
   BUTTONS_BUS = 2  # camera controls ACC, need to send buttons on bus 2
 
-  TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]]
+  TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0], [0x6CD5554, 0], [0xF31AA54, 0], [0x6CD5557, 0]]
-  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557]}
-  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}  # STEERING_CONTROL
+  # STEERING_CONTROL, LANE_PATH, LKAS_HUD_2, HUD_OBJECTS
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557)}
 
   def setUp(self):
     self.packer = CANPackerSafety("honda_bosch_radarless_generated")
     self.safety = libsafety_py.libsafety
 
+  def test_buttons_fwd(self):
+    # SCM_BUTTONS (0x296) forwards to the camera unless OP's replacement button stream is flowing
+    # (engaged + a recent OP SCM_BUTTONS tx on the camera bus). The camera needs the message content
+    # beyond the buttons, so the block fails safe back to forwarding when OP stops sending
+    self.safety.set_controls_allowed(False)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+    # engaged but OP not sending buttons: keep forwarding
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+    # OP button stream flowing: block the stock buttons
+    self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
+
+    # never blocked while disengaged
+    self.safety.set_controls_allowed(False)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
+
+    # freshness decays after 10 stock button frames without an OP tx
+    for _ in range(10):
+      self._rx(self._button_msg(Btn.NONE, main_on=True))
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
 
 class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
   """
@@ -629,9 +672,9 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
   """
     Covers the Honda Bosch Radarless safety mode with longitudinal control
   """
-  TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0]]
+  TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0], [0x296, 2], [0x6CD5554, 0], [0xF31AA54, 0], [0x6CD5557, 0]]
-  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C]}
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C, 0x6CD5554, 0xF31AA54, 0x6CD5557]}
-  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D)}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557)}
 
   def setUp(self):
     super().setUp()
@@ -655,7 +698,7 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
   STEER_BUS = 0
   BUTTONS_BUS = 0
 
-  TX_MSGS = [[0xE4, 0], [0x296, 0], [0x33D, 0]]
+  TX_MSGS = [[0xE4, 0], [0x296, 0], [0x296, 2], [0x33D, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
   RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
 
@@ -663,6 +706,42 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
     self.packer = CANPackerSafety("honda_common_canfd_generated")
     self.safety = libsafety_py.libsafety
 
+  def test_buttons_fwd(self):
+    # SCM_BUTTONS (0x296) forwards to the camera unless OP's replacement button stream is flowing
+    # (engaged + a recent OP SCM_BUTTONS tx on the camera bus); see the radarless variant of this test
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+    self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
+
+    self.safety.set_controls_allowed(False)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+    self.safety.set_controls_allowed(True)
+    for _ in range(10):
+      self._rx(self._button_msg(Btn.NONE, main_on=True))
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+  def test_radar_diag_response_fwd(self):
+    # the radar's UDS responses (0x18DAF1B0) never forward to the camera: the radar disable handshake
+    # happens after the relay is open on CAN FD
+    self.safety.set_controls_allowed(False)
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
+
+  def test_buttons_tx_camera_bus(self):
+    # Buttons to the camera (bus 2): cancel-only while disengaged, any button while engaged
+    # (OP takes over SCM_BUTTONS towards the camera when engaged)
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=2)))
+    self.assertFalse(self._tx(self._button_msg(Btn.RESUME, bus=2)))
+    self.assertFalse(self._tx(self._button_msg(Btn.SET, bus=2)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
+    self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=2)))
+
 
 class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
   """
@@ -686,6 +765,48 @@ class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDS
     self.safety.init_tests()
 
 
+class TestHondaBoschCANFDLongSafety(TestHondaBoschLongSafety, TestHondaBoschCANFDSafetyBase):
+  """
+    Covers the Honda Bosch CANFD safety mode with longitudinal control
+  """
+
+  PT_BUS = 0
+  STEER_BUS = 0
+  BUTTONS_BUS = 0
+
+  # the radar look-alikes are sent on both the powertrain bus (0) and the camera bus (2)
+  TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x296, 2], [0x18DAB0F1, 0],
+             [0x310, 0], [0x6CD5558, 0], [0x6CD5559, 0], [0xF31AA52, 0], [0xF31AA5C, 0], [0x1A45AA4E, 0],
+             [0x310, 2], [0x6CD5558, 2], [0x6CD5559, 2], [0xF31AA52, 2], [0xF31AA5C, 2], [0x1A45AA4E, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [0x6CD5558, 0xF31AA5C], 2: [0xE4, 0x1DF, 0x33D, 0x6CD5558, 0xF31AA5C]}
+  # STEERING_CONTROL, ACC_CONTROL, LKAS_HUD on the pt bus; the radar's LANE_PATH and RADAR_LEAD are
+  # additionally blocked from forwarding to the camera in both directions
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1DF, 0x33D, 0x6CD5558, 0xF31AA5C), 2: (0x6CD5558, 0xF31AA5C)}
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_LONG)
+    self.safety.init_tests()
+
+  def test_diagnostics(self):
+    # CAN FD silences the radar from CarController after the relay opens, so exactly the extended
+    # diagnostic session and the suppressed-response CommunicationControl disable are allowed too
+    tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
+    self.assertTrue(self._tx(tester_present))
+    ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
+    self.assertTrue(self._tx(ext_diag))
+    comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
+    self.assertTrue(self._tx(comm_control_disable))
+
+    # anything else stays blocked, including re-enabling the radar and non-zero trailing bytes
+    comm_control_enable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x80\x03\x00\x00\x00\x00")
+    self.assertFalse(self._tx(comm_control_enable))
+    not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
+    self.assertFalse(self._tx(not_tester_present))
+    trailing_bytes = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x01")
+    self.assertFalse(self._tx(trailing_bytes))
+
+
 class TestHondaNidecHybridSafety(TestHondaNidecPcmSafety):
   """
     Covers the Honda Nidec safety mode with hybrid brake

iqpilot/common/params_keys.h

@@ -174,6 +174,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IQCarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"IQCarParamsPersistent", {PERSISTENT, BYTES}},
     {"IQCarParamsPersistentV2", {PERSISTENT, BYTES}},
+    {"IQLongLearnedFactors", {PERSISTENT, JSON}},
     {"CarPlatformBundle", {PERSISTENT, JSON}},
     {"Konn3ktVwOdometers", {PERSISTENT, JSON}},
     {"Konn3ktVehicleOdometers", {PERSISTENT, JSON}},

iqpilot/selfdrive/car/card.py

@@ -2,6 +2,8 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 """
+import json
+import math
 import os
 import time
 import threading
@@ -86,7 +88,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'testJoystick'] + ['iqCarControl', 'iqPlan'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'testJoystick', 'modelV2'] + ['iqCarControl', 'iqPlan'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'radarTracks', 'iqPerfTrace'] + ['iqCarParams', 'iqCarState'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -178,6 +180,9 @@ class Car:
         else:
           cloudlog.warning("Saved SecOC key is invalid")
 
+    if controller_available:
+      self._seed_learned_factors()
+
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
@@ -259,9 +264,43 @@ class Car:
 
     return CS, CS_IQ, RD
 
+  def _learned_factor_attrs(self):
+    if self.CI.CC is None:
+      return ()
+    return tuple(attr for attr in ("gasfactor", "windfactor") if hasattr(self.CI.CC, attr))
+
+  def _stored_learned_factors(self) -> dict:
+    try:
+      stored = json.loads(self.params.get("IQLongLearnedFactors") or b"{}")
+    except ValueError:
+      stored = {}
+    return stored if isinstance(stored, dict) else {}
+
+  def _seed_learned_factors(self):
+    attrs = self._learned_factor_attrs()
+    if not attrs:
+      return
+    factors = self._stored_learned_factors().get(str(self.CP.carFingerprint), {})
+    for attr in attrs:
+      value = factors.get(attr)
+      if isinstance(value, int | float) and math.isfinite(value):
+        setattr(self.CI.CC, attr, float(value))
+
+  def _save_learned_factors(self):
+    attrs = self._learned_factor_attrs()
+    if not attrs:
+      return
+    stored = self._stored_learned_factors()
+    stored[str(self.CP.carFingerprint)] = {attr: float(getattr(self.CI.CC, attr)) for attr in attrs}
+    self.params.put_nonblocking("IQLongLearnedFactors", json.dumps(stored))
+
   def state_publish(self, CS: car.CarState, CS_IQ: custom.IQCarState, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
+    # persist live-learned longitudinal factors so they survive across drives
+    if self.sm.frame > 0 and self.sm.frame % int(60. / DT_CTRL) == 0:
+      self._save_learned_factors()
+
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
@@ -323,8 +362,9 @@ class Car:
       cc_iq = convert_iq_car_control_compact(CC_IQ, include_leads=self._needs_iq_lead_data)
       convert_us = (time.monotonic_ns() - started) // 1000
 
+      model = self.sm['modelV2'] if self.sm.valid['modelV2'] else None
       started = time.monotonic_ns()
-      self.last_actuators_output, can_sends = self.CI.apply(CC, cc_iq, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, cc_iq, now_nanos, model)
       apply_us = (time.monotonic_ns() - started) // 1000
 
       started = time.monotonic_ns()

iqpilot/selfdrive/car/tests/test_learned_factor_persistence.py

@@ -0,0 +1,82 @@
+import json
+from types import SimpleNamespace
+
+from iqpilot.selfdrive.car.card import Car
+
+
+class DummyParams:
+  def __init__(self):
+    self.values: dict[str, object] = {}
+
+  def get(self, key: str):
+    return self.values.get(key)
+
+  def put_nonblocking(self, key: str, value) -> None:
+    self.values[key] = value
+
+
+class HondaLikeController:
+  def __init__(self):
+    self.gasfactor = 1.0
+    self.windfactor = 1.0
+
+
+def make_car(controller):
+  car = object.__new__(Car)
+  car.params = DummyParams()
+  car.CI = SimpleNamespace(CC=controller)
+  car.CP = SimpleNamespace(carFingerprint="HONDA_CRV_6G")
+  return car
+
+
+class TestLearnedFactorPersistence:
+  def test_save_then_seed_round_trip(self):
+    car = make_car(HondaLikeController())
+    car.CI.CC.gasfactor = 1.37
+    car.CI.CC.windfactor = 0.84
+    car._save_learned_factors()
+
+    fresh = make_car(HondaLikeController())
+    fresh.params.values = car.params.values
+    fresh._seed_learned_factors()
+    assert fresh.CI.CC.gasfactor == 1.37
+    assert fresh.CI.CC.windfactor == 0.84
+
+  def test_factors_keyed_per_fingerprint(self):
+    car = make_car(HondaLikeController())
+    car.CI.CC.gasfactor = 2.0
+    car._save_learned_factors()
+
+    other = make_car(HondaLikeController())
+    other.params.values = car.params.values
+    other.CP = SimpleNamespace(carFingerprint="HONDA_CIVIC_BOSCH")
+    other._seed_learned_factors()
+    assert other.CI.CC.gasfactor == 1.0
+
+    other.CI.CC.gasfactor = 0.5
+    other._save_learned_factors()
+    stored = json.loads(other.params.values["IQLongLearnedFactors"])
+    assert stored["HONDA_CRV_6G"]["gasfactor"] == 2.0
+    assert stored["HONDA_CIVIC_BOSCH"]["gasfactor"] == 0.5
+
+  def test_seed_ignores_corrupt_or_nonfinite_values(self):
+    car = make_car(HondaLikeController())
+    car.params.values["IQLongLearnedFactors"] = "not json"
+    car._seed_learned_factors()
+    assert car.CI.CC.gasfactor == 1.0
+
+    car.params.values["IQLongLearnedFactors"] = json.dumps({"HONDA_CRV_6G": {"gasfactor": float("nan"), "windfactor": "x"}})
+    car._seed_learned_factors()
+    assert car.CI.CC.gasfactor == 1.0
+    assert car.CI.CC.windfactor == 1.0
+
+  def test_noop_for_controllers_without_factors(self):
+    car = make_car(SimpleNamespace())
+    car._seed_learned_factors()
+    car._save_learned_factors()
+    assert "IQLongLearnedFactors" not in car.params.values
+
+    car = make_car(None)
+    car._seed_learned_factors()
+    car._save_learned_factors()
+    assert "IQLongLearnedFactors" not in car.params.values

iqpilot/selfdrive/controls/lib/latcontrol_torque.py

@@ -11,6 +11,7 @@ import numpy as np
 from iqpilot.cereal import log, custom  # noqa: F401  (custom kept available for downstream imports)
 from iqdbc.car import structs
 from iqdbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from iqdbc.car.toyota.values import ToyotaFlags
 from iqdbc.lvbs.car.interfaces import LatControlInputs
 from iqdbc.lvbs.car.iq_lateral import get_friction as get_friction_in_torque_space
 from iqpilot.common.basedir import BASEDIR
@@ -556,6 +557,8 @@ class LatControlTorque(LatControl):
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
     self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
     self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.setpoint_lead_enabled = CP.brand == "toyota" and bool(CP.flags & ToyotaFlags.TSS2)
+    self.setpoint_lead_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
     self.lateral_acceleration_slew_limiter = LateralAccelerationSlewLimiter(Params().get_bool("IQLateralAccelSlew"))
     self.curvature_lookahead_enabled = Params().get_bool("IQLateralCurvatureLookahead")
 
@@ -593,6 +596,10 @@ class LatControlTorque(LatControl):
     delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
     expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
     setpoint = expected_lateral_accel
+    if self.setpoint_lead_enabled:
+      # the delayed setpoint mutes P/I for lat_delay after a ramp starts; lead by the filtered ramp rate so torque-capped TSS2 EPS turns in on time
+      request_ramp_rate = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
+      setpoint += self.setpoint_lead_filter.update(request_ramp_rate) * lat_delay
     error = setpoint - measurement
 
     lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))