commaai · mvl-boston · Aug 14, 2025 · Aug 17, 2025 · Aug 17, 2025 · Aug 17, 2025
diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
@@ -213,7 +213,7 @@ def update(self, CC, CS, now_nanos):
           pcm_override = True
           can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
                                                          pcm_override, pcm_cancel_cmd, alert_fcw,
-                                                         self.CP.carFingerprint, CS.stock_brake))
+                                                         self.CP, CS.stock_brake))
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
 

diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
@@ -34,6 +34,7 @@ def __init__(self, CP):
       self.car_state_scm_msg = "SCM_BUTTONS"
 
     self.brake_error_msg = "HYBRID_BRAKE_ERROR" if CP.flags & HondaFlags.HYBRID else "STANDSTILL"
+    self.brakehold_msg = "BRAKE_HOLD_HYBRID_ALT" if CP.flags & HondaFlags.HYBRID_ALT_BRAKEHOLD else "VSA_STATUS"
 
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
@@ -137,9 +138,12 @@ def update(self, can_parsers) -> structs.CarState:
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
-    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
+    ret.brakeHoldActive = cp.vl[self.brakehold_msg]["BRAKE_HOLD_ACTIVE"] == 1
     ret.parkingBrake = bool(cp.vl[self.car_state_scm_msg]["PARKING_BRAKE_ON"])
 
+    if (self.CP.flags & HondaFlags.NIDEC) and (self.CP.flags & HondaFlags.HYBRID):
+      ret.blockPcmEnable = ret.brakeHoldActive # Nidec Hybrids fault if resuming cruise from brake hold
+
     if self.CP.transmissionType == TransmissionType.manual:
       ret.gearShifter = GearShifter.reverse if bool(cp.vl["SCM_FEEDBACK"]["REVERSE_LIGHT"]) else GearShifter.drive
     else:
@@ -197,7 +201,8 @@ def update(self, can_parsers) -> structs.CarState:
       if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
         ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
+      brake_cmd = "COMPUTER_BRAKE_HYBRID" if self.CP.flags & HondaFlags.HYBRID else "COMPUTER_BRAKE"
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][brake_cmd] > 1e-5)
 
     self.acc_hud = False
     self.lkas_hud = False

diff --git a/opendbc/car/honda/hondacan.py b/opendbc/car/honda/hondacan.py
@@ -46,15 +46,13 @@ def body(self) -> int:
     return self.offset
 
 
-def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
+def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, CP, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
   pcm_fault_cmd = False
 
   values = {
-    "COMPUTER_BRAKE": apply_brake,
-    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
@@ -67,6 +65,16 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
+  if (CP.flags & HondaFlags.HYBRID):
+    values.update({
+      "COMPUTER_BRAKE_HYBRID": apply_brake,
+      "BRAKE_PUMP_REQUEST_HYBRID": (apply_brake > 0),
+    })
+  else:
+    values.update({
+      "COMPUTER_BRAKE": apply_brake,
+      "BRAKE_PUMP_REQUEST": pump_on,
+    })
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 

diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
@@ -66,6 +66,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     if 0x184 in fingerprint[CAN.pt]:
       ret.flags |= HondaFlags.HYBRID.value
 
+    if (ret.flags & HondaFlags.NIDEC) and (ret.flags & HondaFlags.HYBRID) and (0x223 in fingerprint[CAN.pt]):
+      ret.flags |= HondaFlags.HYBRID_ALT_BRAKEHOLD.value
+
     if ret.flags & HondaFlags.ALLOW_MANUAL_TRANS and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
       # Manual transmission support for allowlisted cars only, to prevent silent fall-through on auto-detection failures
       ret.transmissionType = TransmissionType.manual
@@ -208,6 +211,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
     if candidate in HONDA_BOSCH_CANFD:
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
+    if (ret.flags & HondaFlags.NIDEC) and (ret.flags & HondaFlags.HYBRID):
+      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_HYBRID.value
 
     # 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

diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
@@ -56,6 +56,7 @@ class HondaSafetyFlags(IntFlag):
   NIDEC_ALT = 4
   RADARLESS = 8
   BOSCH_CANFD = 16
+  NIDEC_HYBRID = 32
 
 
 class HondaFlags(IntFlag):
@@ -79,6 +80,7 @@ class HondaFlags(IntFlag):
   ALLOW_MANUAL_TRANS = 1024
   HYBRID = 2048
   BOSCH_TJA_CONTROL = 4096
+  HYBRID_ALT_BRAKEHOLD = 8192  # Some Nidec Hybrids use a different brakehold
 
 
 # Car button codes

diff --git a/opendbc/safety/modes/honda.h b/opendbc/safety/modes/honda.h
@@ -29,6 +29,7 @@ static int honda_brake = 0;
 static bool honda_brake_switch_prev = false;
 static bool honda_alt_brake_msg = false;
 static bool honda_fwd_brake = false;
+static bool honda_nidec_hybrid = false;
 static bool honda_bosch_long = false;
 static bool honda_bosch_radarless = false;
 static bool honda_bosch_canfd = false;
@@ -147,7 +148,14 @@ static void honda_rx_hook(const CANPacket_t *msg) {
   if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
     if ((msg->bus == 2U) && (msg->addr == 0x1FAU)) {
       bool honda_stock_aeb = GET_BIT(msg, 29U);
-      int honda_stock_brake = (msg->data[0] << 2) | (msg->data[1] >> 6);
+
+      int honda_stock_brake;
+      if (honda_nidec_hybrid) {
+        honda_stock_brake = (msg->data[6] << 2) | (msg->data[7] >> 6);
+      }
+      else {
+        honda_stock_brake = (msg->data[0] << 2) | (msg->data[1] >> 6);
+      }
 
       // Forward AEB when stock braking is higher than openpilot braking
       // only stop forwarding when AEB event is over
@@ -199,7 +207,11 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
 
   // BRAKE: safety check (nidec)
   if ((msg->addr == 0x1FAU) && (msg->bus == bus_pt)) {
-    honda_brake = (msg->data[0] << 2) + ((msg->data[1] >> 6) & 0x3U);
+    if ( honda_nidec_hybrid ) {
+      honda_brake = (msg->data[6] << 2) + ((msg->data[7] >> 6) & 0x3U);
+    } else {
+      honda_brake = (msg->data[0] << 2) + ((msg->data[1] >> 6) & 0x3U);
+    }
     if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
       tx = false;
     }
@@ -280,6 +292,7 @@ static safety_config honda_nidec_init(uint16_t param) {
                                      {0x30C, 0, 8, .check_relay = true}, {0x33D, 0, 5, .check_relay = true}};
 
   const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
+  const uint16_t HONDA_PARAM_NIDEC_HYBRID = 32;
 
   honda_hw = HONDA_NIDEC;
   honda_brake = 0;
@@ -293,7 +306,8 @@ static safety_config honda_nidec_init(uint16_t param) {
   safety_config ret;
 
   bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT);
-
+  honda_nidec_hybrid = GET_FLAG(param, HONDA_PARAM_NIDEC_HYBRID);
+
   if (enable_nidec_alt) {
     // For Nidecs with main on signal on an alternate msg (missing 0x326)
     static RxCheck honda_nidec_alt_rx_checks[] = {

diff --git a/opendbc/safety/tests/test_honda.py b/opendbc/safety/tests/test_honda.py
@@ -360,6 +360,22 @@ def _button_msg(self, buttons, main_on=False, bus=None):
     return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
 
 
+class TestHondaNidecPcmHybridSafety(TestHondaNidecPcmAltSafety):
+  """
+    Covers the Honda Nidec safety mode with alt SCM messages and hybrid brake
+  """
+
+  def setUp(self):
+    self.packer = CANPackerSafety("acura_ilx_2016_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, HondaSafetyFlags.NIDEC_ALT | HondaSafetyFlags.NIDEC_HYBRID)
+    self.safety.init_tests()
+
+  def _send_brake_msg(self, brake, aeb_req=0, bus=0):
+    values = {"COMPUTER_BRAKE_HYBRID": brake, "AEB_REQ_1": aeb_req}
+    return self.packer.make_can_msg_safety("BRAKE_COMMAND", bus, values)
+
+
 # ********************* Honda Bosch **********************