From 4e2d8cf5236858e6b1de438c1d8f0a64515936b9 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Fri, 29 Mar 2024 12:41:10 -0700
Subject: [PATCH 01/26] Init 24 Integra

---
 selfdrive/car/honda/carstate.py     |  4 ++--
 selfdrive/car/honda/fingerprints.py | 20 ++++++++++++++++++++
 selfdrive/car/honda/interface.py    |  2 +-
 selfdrive/car/honda/values.py       |  6 ++++++
 4 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index c98d1a72d3cc15..b92222f0da86ad 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -65,7 +65,7 @@ def get_can_messages(CP, gearbox_msg):
 
   # TODO: clean this up
   if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.ACURA_INTEGRA):
     pass
   elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
@@ -126,7 +126,7 @@ def update(self, cp, cp_cam, cp_body):
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
     if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.ACURA_INTEGRA):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index c1714fe81038ac..5857521a6880a5 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -1411,4 +1411,24 @@
       b'37805-64S-AA10\x00\x00',
     ],
   },
+  CAR.ACURA_INTEGRA: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T38-A040\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-3S5-A210\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-3S5-A920\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'8108-3S5-AC20\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-3S5-CA30\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-6LM-A020\x00\x00',
+    ],
+  },
 }
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2a5a07093d9732..dc8d050aa59721 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -103,7 +103,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
-    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
+    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022, CAR.ACURA_INTEGRA):
       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]]
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 36cdbc87328d1d..7c4cb588c5f93e 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -183,6 +183,12 @@ class CAR(Platforms):
     CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
     dbc_dict('acura_rdx_2020_can_generated', None),
   )
+  ACURA_INTEGRA = HondaBoschPlatformConfig(
+    [HondaCarDocs("Acura Integra 2024", "All")],
+    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
+    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    flags=HondaFlags.BOSCH_RADARLESS,
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(

From 5ba4328683aa17825497c6483c849c4305c5dced Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Fri, 29 Mar 2024 12:54:01 -0700
Subject: [PATCH 02/26] subs

---
 selfdrive/car/torque_data/substitute.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 22ee134ae374aa..e81f109cf66965 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -48,6 +48,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
 "HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
+"ACURA_INTEGRA" = "HONDA_CIVIC_2022"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"

From f0a3526024fce4b7dcdae6c69b15e292af8af267 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Fri, 5 Apr 2024 21:32:29 -0700
Subject: [PATCH 03/26] add MT support

---
 selfdrive/car/honda/carstate.py  | 21 +++++++++++++++++----
 selfdrive/car/honda/interface.py |  3 +++
 2 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index b92222f0da86ad..6ee2fd3a3bea90 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -16,7 +16,6 @@
 
 def get_can_messages(CP, gearbox_msg):
   messages = [
-    ("ENGINE_DATA", 100),
     ("WHEEL_SPEEDS", 50),
     ("STEERING_SENSORS", 100),
     ("SEATBELT_STATUS", 10),
@@ -38,8 +37,15 @@ def get_can_messages(CP, gearbox_msg):
       ("SCM_FEEDBACK", 10),
       ("SCM_BUTTONS", 25),
     ]
-
-  if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint != CAR.ACURA_INTEGRA:
+    messages += [
+      ("ENGINE_DATA", 100),
+    ]
+  if CP.carFingerprint == CAR.ACURA_INTEGRA:
+      messages += [
+      ("GEARBOX_MT", 50),
+      ]
+  if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.ACURA_INTEGRA):
     messages.append((gearbox_msg, 50))
   else:
     messages.append((gearbox_msg, 100))
@@ -87,6 +93,8 @@ def __init__(self, CP):
     self.gearbox_msg = "GEARBOX"
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
+    elif self.CP.transmissionType == TransmissionType.manual:
+      self.gearbox_msg == "GEARBOX_MT"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
@@ -123,7 +131,10 @@ def update(self, cp, cp_cam, cp_body):
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
-    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
+    if CP.carFingerprint == CAR.ACURA_INTEGRA:
+        ret.standstill = cp.vl["CAR_SPEED"]["CAR_SPEED"] < 1e-5
+    else:
+        ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
     if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
                                   CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.ACURA_INTEGRA):
@@ -186,6 +197,8 @@ def update(self, cp, cp_cam, cp_body):
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+    if self.CP.transmissionType == TransmissionType.manual:
+        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR"] == 0
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index dc8d050aa59721..f0f1301041f9cc 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -62,6 +62,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # Accord ICE 1.5T CVT has different gearbox message
     if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
       ret.transmissionType = TransmissionType.cvt
+    # Integra has MT option
+    elif candidate == CAR.ACURA_INTEGRA and 0x191 not in fingerprint[CAN.pt]:
+      ret.transmissionType = TransmissionType.manual
 
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
     # which improves controls quality as it removes the steering column torsion from feedback.

From 45c0346bfda5317e012e953bcd0196cd0d610c8c Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Fri, 5 Apr 2024 21:39:50 -0700
Subject: [PATCH 04/26] fix

---
 selfdrive/car/honda/carstate.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 6ee2fd3a3bea90..9570b3e16ffece 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -93,7 +93,7 @@ def __init__(self, CP):
     self.gearbox_msg = "GEARBOX"
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
-    elif self.CP.transmissionType == TransmissionType.manual:
+    elif CP.transmissionType == TransmissionType.manual:
       self.gearbox_msg == "GEARBOX_MT"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
@@ -131,7 +131,7 @@ def update(self, cp, cp_cam, cp_body):
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
-    if CP.carFingerprint == CAR.ACURA_INTEGRA:
+    if self.CP.carFingerprint == CAR.ACURA_INTEGRA:
         ret.standstill = cp.vl["CAR_SPEED"]["CAR_SPEED"] < 1e-5
     else:
         ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5

From 1681389d8a535591ae8d574a0a08b913d1bf869b Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Fri, 5 Apr 2024 21:44:57 -0700
Subject: [PATCH 05/26] fix

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 9570b3e16ffece..460b1589de97d2 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -94,7 +94,7 @@ def __init__(self, CP):
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
     elif CP.transmissionType == TransmissionType.manual:
-      self.gearbox_msg == "GEARBOX_MT"
+      self.gearbox_msg = "GEARBOX_MT"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:

From 0e178033c4c87b8ac87420b7fe60347c9e93c403 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sat, 6 Apr 2024 14:50:48 -0700
Subject: [PATCH 06/26] MT gear support

---
 opendbc                         | 2 +-
 selfdrive/car/honda/carstate.py | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/opendbc b/opendbc
index 3c926e88e87594..3dff4b30f19ee4 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3c926e88e87594e788ab96d32ecdd8f66cb01aed
+Subproject commit 3dff4b30f19ee40b5c2162024a1946307792422f
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 460b1589de97d2..6442358c9a2cee 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -198,7 +198,11 @@ def update(self, cp, cp_cam, cp_body):
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
     if self.CP.transmissionType == TransmissionType.manual:
-        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR"] == 0
+        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
+        if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14;
+            ret.gearShifter = GearShifter.reverse
+        else;
+            ret.gearShifter = GearShifter.drive
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5

From 82b7544e2692f9ab4810d296da1060e5dae55232 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 06:42:38 -0700
Subject: [PATCH 07/26] Revert "MT gear support"

This reverts commit 0e178033c4c87b8ac87420b7fe60347c9e93c403.
---
 opendbc                         | 2 +-
 selfdrive/car/honda/carstate.py | 6 +-----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/opendbc b/opendbc
index 3dff4b30f19ee4..3c926e88e87594 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3dff4b30f19ee40b5c2162024a1946307792422f
+Subproject commit 3c926e88e87594e788ab96d32ecdd8f66cb01aed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 6442358c9a2cee..460b1589de97d2 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -198,11 +198,7 @@ def update(self, cp, cp_cam, cp_body):
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
     if self.CP.transmissionType == TransmissionType.manual:
-        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
-        if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14;
-            ret.gearShifter = GearShifter.reverse
-        else;
-            ret.gearShifter = GearShifter.drive
+        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR"] == 0
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5

From 3ad8ec78b39af4663f6197cad18c048287346b45 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 06:48:36 -0700
Subject: [PATCH 08/26] remove MT for now

---
 selfdrive/car/honda/carstate.py | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 460b1589de97d2..33deecc4c9d6e6 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -41,10 +41,6 @@ def get_can_messages(CP, gearbox_msg):
     messages += [
       ("ENGINE_DATA", 100),
     ]
-  if CP.carFingerprint == CAR.ACURA_INTEGRA:
-      messages += [
-      ("GEARBOX_MT", 50),
-      ]
   if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.ACURA_INTEGRA):
     messages.append((gearbox_msg, 50))
   else:
@@ -93,8 +89,6 @@ def __init__(self, CP):
     self.gearbox_msg = "GEARBOX"
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
-    elif CP.transmissionType == TransmissionType.manual:
-      self.gearbox_msg = "GEARBOX_MT"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
@@ -197,8 +191,6 @@ def update(self, cp, cp_cam, cp_body):
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
-    if self.CP.transmissionType == TransmissionType.manual:
-        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR"] == 0
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5

From ee25ef18812d7515c252aaf6eda425e20768f87a Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 08:09:57 -0700
Subject: [PATCH 09/26] more fw versions

---
 selfdrive/car/honda/fingerprints.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 5857521a6880a5..8722a770dedf76 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -1416,19 +1416,23 @@
       b'39990-T38-A040\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-3S5-A110\x00\x00',
       b'38897-3S5-A210\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-3S5-A920\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'8108-3S5-AC20\x00\x00',
+      b'78108-3S5-AC20\x00\x00',
+      b'78108-3S5-A220\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-3S5-CA30\x00\x00',
+      b'57114-3S5-CB30\x00\x00'
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-6LM-A020\x00\x00',
+      b'37805-6LM-A520\x00\x00',
     ],
   },
 }

From 3796249685d8ed3c4c27df1f14992dd99802d4d8 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 16:26:48 -0700
Subject: [PATCH 10/26] use car speed on integra

---
 selfdrive/car/honda/carstate.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 33deecc4c9d6e6..fd77b7252b7bf4 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -170,7 +170,10 @@ def update(self, cp, cp_cam, cp_body):
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
-    ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
+    if self.CP.carFingerprint == CAR.ACURA_INTEGRA;
+        ret.vEgoRaw = (1. - v_weight) * cp.vl["CAR_SPEED"]["CAR_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
+    else:
+        ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
     self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3

From 9dace70b66b4216550e1199c11afe817a850b275 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 16:34:24 -0700
Subject: [PATCH 11/26] fix

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index fd77b7252b7bf4..e67150ea461e46 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -170,7 +170,7 @@ def update(self, cp, cp_cam, cp_body):
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
-    if self.CP.carFingerprint == CAR.ACURA_INTEGRA;
+    if self.CP.carFingerprint == CAR.ACURA_INTEGRA:
         ret.vEgoRaw = (1. - v_weight) * cp.vl["CAR_SPEED"]["CAR_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
     else:
         ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel

From 1481c33a6f467b9aa386d896bb65367ed616355d Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 18:10:14 -0700
Subject: [PATCH 12/26] attempt MT Integra support

---
 opendbc                         |  2 +-
 selfdrive/car/honda/carstate.py | 12 ++++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 3c926e88e87594..3dff4b30f19ee4 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3c926e88e87594e788ab96d32ecdd8f66cb01aed
+Subproject commit 3dff4b30f19ee40b5c2162024a1946307792422f
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index e67150ea461e46..14be087a6e3ee5 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -41,6 +41,10 @@ def get_can_messages(CP, gearbox_msg):
     messages += [
       ("ENGINE_DATA", 100),
     ]
+  if CP.carFingerprint == CAR.ACURA_INTEGRA:
+    messages += [
+      ("GEARBOX_MT", 50),
+    ]
   if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.ACURA_INTEGRA):
     messages.append((gearbox_msg, 50))
   else:
@@ -89,6 +93,8 @@ def __init__(self, CP):
     self.gearbox_msg = "GEARBOX"
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
+    elif CP.transmissionType == TransmissionType.manual:
+      self.gearbox_msg = "GEARBOX_MT"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
@@ -194,6 +200,12 @@ def update(self, cp, cp_cam, cp_body):
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+    if self.CP.transmissionType == TransmissionType.manual:
+        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
+        if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14;
+            ret.gearShifter = GearShifter.reverse
+        else;
+            ret.gearShifter = GearShifter.drive
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5

From 874297a9ae2b53c62c6cc904e947be42f2d0d1c1 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 18:19:33 -0700
Subject: [PATCH 13/26] fix

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 14be087a6e3ee5..7dc1b2afe2c3c1 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -202,7 +202,7 @@ def update(self, cp, cp_cam, cp_body):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
     if self.CP.transmissionType == TransmissionType.manual:
         ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
-        if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14;
+        if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14:
             ret.gearShifter = GearShifter.reverse
         else;
             ret.gearShifter = GearShifter.drive

From 9c6f3fb0c4e31a92f22244059d2fe4a22fe78ba6 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 7 Apr 2024 18:23:13 -0700
Subject: [PATCH 14/26] fix

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 7dc1b2afe2c3c1..5df0f817cb0452 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -204,7 +204,7 @@ def update(self, cp, cp_cam, cp_body):
         ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
         if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14:
             ret.gearShifter = GearShifter.reverse
-        else;
+        else:
             ret.gearShifter = GearShifter.drive
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]

From 229d7195c772757a4024c815472c3720dd1e2570 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Mon, 8 Apr 2024 07:51:23 -0700
Subject: [PATCH 15/26] integra panda safety

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 01c54d11990fb8..2ab5af3552e086 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 01c54d11990fb82b85acc322a6e2e34a4b7ee389
+Subproject commit 2ab5af3552e086c3b9f77ddbb0dd4f5ea6708c2f

From a1727007eb00884177e33698233335c7d36f2fc0 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Mon, 8 Apr 2024 07:52:24 -0700
Subject: [PATCH 16/26] integra panda safety

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 01c54d11990fb8..2ab5af3552e086 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 01c54d11990fb82b85acc322a6e2e34a4b7ee389
+Subproject commit 2ab5af3552e086c3b9f77ddbb0dd4f5ea6708c2f

From a79aef2693a05c709e4f68f68a041ffe2bce8aba Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Mon, 8 Apr 2024 12:55:58 -0700
Subject: [PATCH 17/26] test

---
 selfdrive/car/honda/carstate.py | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5df0f817cb0452..127fa3729a825d 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -100,7 +100,8 @@ def __init__(self, CP):
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
       self.main_on_sig_msg = "SCM_BUTTONS"
 
-    self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
+    if CP.carFingerprint != CAR.ACURA_INTEGRA:
+        self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
     self.brake_switch_prev = False
@@ -199,13 +200,15 @@ def update(self, cp, cp_cam, cp_body):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
     if self.CP.transmissionType == TransmissionType.manual:
-        ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
-        if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14:
-            ret.gearShifter = GearShifter.reverse
-        else:
-            ret.gearShifter = GearShifter.drive
+      ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
+      if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14:
+        ret.gearShifter = GearShifter.reverse
+      else:
+        ret.gearShifter = GearShifter.drive
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+
 
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5

From 03a9835fa33b789db6553a52f8e00e34308ad745 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Mon, 8 Apr 2024 13:18:47 -0700
Subject: [PATCH 18/26] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 2ab5af3552e086..a00b77c78a33b8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2ab5af3552e086c3b9f77ddbb0dd4f5ea6708c2f
+Subproject commit a00b77c78a33b8c19a02ac4ccba17618f863b50c

From 499f1384d69e02e64d7afd7dbce974806bc35bb8 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Mon, 8 Apr 2024 13:27:45 -0700
Subject: [PATCH 19/26] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index a00b77c78a33b8..b1586fa87caf9d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a00b77c78a33b8c19a02ac4ccba17618f863b50c
+Subproject commit b1586fa87caf9d95074fc3bf8a4e2cc694b94ef2

From 1d24c702a6f26038ee9da2b4189e7253066e39e3 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Mon, 8 Apr 2024 20:21:53 -0700
Subject: [PATCH 20/26] bump panda and remove freq check

---
 panda                           | 2 +-
 selfdrive/car/honda/carstate.py | 4 ----
 2 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/panda b/panda
index 2ab5af3552e086..b1586fa87caf9d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2ab5af3552e086c3b9f77ddbb0dd4f5ea6708c2f
+Subproject commit b1586fa87caf9d95074fc3bf8a4e2cc694b94ef2
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 127fa3729a825d..941bc13d6f7db9 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -41,10 +41,6 @@ def get_can_messages(CP, gearbox_msg):
     messages += [
       ("ENGINE_DATA", 100),
     ]
-  if CP.carFingerprint == CAR.ACURA_INTEGRA:
-    messages += [
-      ("GEARBOX_MT", 50),
-    ]
   if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.ACURA_INTEGRA):
     messages.append((gearbox_msg, 50))
   else:

From 2c0a8a94f239a466cc3ae579411dfabbfefe0f7a Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Tue, 9 Apr 2024 06:48:44 -0700
Subject: [PATCH 21/26] move this

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 941bc13d6f7db9..ac0fc654ddeacf 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -195,7 +195,6 @@ def update(self, cp, cp_cam, cp_body):
     if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
-    gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     if self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
       if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14:
@@ -203,6 +202,7 @@ def update(self, cp, cp_cam, cp_body):
       else:
         ret.gearShifter = GearShifter.drive
     else:
+      gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
 

From 1d3816de6f7713a8b2e195d0b80b9534ddf95ca0 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Tue, 9 Apr 2024 22:25:56 -0700
Subject: [PATCH 22/26] more fixes

---
 selfdrive/car/honda/carstate.py | 6 +++---
 selfdrive/car/honda/values.py   | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index ac0fc654ddeacf..b7eb42f2f0742f 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -8,7 +8,7 @@
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
-                                                 HondaFlags
+                                                 HondaFlags, GearShifter
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -37,7 +37,7 @@ def get_can_messages(CP, gearbox_msg):
       ("SCM_FEEDBACK", 10),
       ("SCM_BUTTONS", 25),
     ]
-  if CP.carFingerprint != CAR.ACURA_INTEGRA:
+  if CP.carFingerprint not in (CAR.ACURA_INTEGRA):
     messages += [
       ("ENGINE_DATA", 100),
     ]
@@ -96,7 +96,7 @@ def __init__(self, CP):
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
       self.main_on_sig_msg = "SCM_BUTTONS"
 
-    if CP.carFingerprint != CAR.ACURA_INTEGRA:
+    if CP.carFingerprint not in (CAR.ACURA_INTEGRA):
         self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 7c4cb588c5f93e..de77d4c3c9656c 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -10,6 +10,7 @@
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+GearShifter = car.CarState.GearShifter
 
 
 class CarControllerParams:

From 1020cf7bcf60743388b34dcfb4a9b5074eeb8143 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 14 Apr 2024 14:21:47 -0700
Subject: [PATCH 23/26] update gearbox msg

---
 opendbc                         | 2 +-
 selfdrive/car/honda/carstate.py | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/opendbc b/opendbc
index 3dff4b30f19ee4..0211b3a2d756c3 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 3dff4b30f19ee40b5c2162024a1946307792422f
+Subproject commit 0211b3a2d756c396a63543051467a51f1b6ee550
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index b7eb42f2f0742f..c6092f04c84228 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -90,13 +90,13 @@ def __init__(self, CP):
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
     elif CP.transmissionType == TransmissionType.manual:
-      self.gearbox_msg = "GEARBOX_MT"
+      self.gearbox_msg = "GEARBOX_BOH"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
       self.main_on_sig_msg = "SCM_BUTTONS"
 
-    if CP.carFingerprint not in (CAR.ACURA_INTEGRA):
+    if CP.transmission != TransmissionType.manual:
         self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
@@ -196,8 +196,8 @@ def update(self, cp, cp_cam, cp_body):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     if self.CP.transmissionType == TransmissionType.manual:
-      ret.clutchPressed = cp.vl["GEARBOX_MT"]["GEAR_MT"] == 0
-      if cp.vl["GEARBOX_MT"]["GEAR_MT"] == 14:
+      ret.clutchPressed = cp.vl["GEARBOX_BOH"]["GEAR_MT"] == 0
+      if cp.vl["GEARBOX_BOH"]["GEAR_MT"] == 14:
         ret.gearShifter = GearShifter.reverse
       else:
         ret.gearShifter = GearShifter.drive

From ebc0bb1d67d3ec67030927c976d7c08b180bfdb0 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 14 Apr 2024 19:09:44 -0700
Subject: [PATCH 24/26] type

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index c6092f04c84228..c818ab8c372f9b 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -96,7 +96,7 @@ def __init__(self, CP):
     if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
       self.main_on_sig_msg = "SCM_BUTTONS"
 
-    if CP.transmission != TransmissionType.manual:
+    if CP.transmissionType != TransmissionType.manual:
         self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 

From 7a45c48f9e38981348d3f6064d8a43d5ad4a6b32 Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 21 Apr 2024 11:05:01 -0700
Subject: [PATCH 25/26] 24 integra mt (#8)

* bump panda

* bump opendbc

* apply PR 31022
---
 opendbc                              |  2 +-
 panda                                |  2 +-
 selfdrive/car/honda/carcontroller.py | 25 +++++++++++++++++++++----
 selfdrive/car/honda/carstate.py      |  1 +
 selfdrive/car/honda/hondacan.py      | 15 +++++++++++----
 selfdrive/car/honda/values.py        |  5 +++++
 6 files changed, 40 insertions(+), 10 deletions(-)

diff --git a/opendbc b/opendbc
index 0211b3a2d756c3..d3489b5ec8d427 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 0211b3a2d756c396a63543051467a51f1b6ee550
+Subproject commit d3489b5ec8d4278debe67a85090bb03e50277023
diff --git a/panda b/panda
index b1586fa87caf9d..523534ccaff6b6 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b1586fa87caf9d95074fc3bf8a4e2cc694b94ef2
+Subproject commit 523534ccaff6b67e6e86774d96f75fcf37366b4b
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 6fe8c275850f6e..21a614caebf2c1 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -203,11 +203,28 @@ def update(self, CC, CS, now_nanos):
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
-      # If using stock ACC, spam cancel command to kill gas when OP disengages.
+      # Buttons: spam the cancel or resume buttons.
+      cruise = None
+      setting = CruiseButtons.NONE
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
-      elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        cruise = CruiseButtons.CANCEL
+      elif self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS and CC.cruiseControl.resume:
+        cruise = CruiseButtons.RES_ACCEL
+      elif self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and CC.enabled and self.frame % 4 == 0:
+        # Send buttons to the camera when engaged. Only send the LKAS button to turn off stock LKAS off so it can't disengage cruise.
+        # Priority: pcm_cancel > user > auto resume > turn off lkas > none/idle
+        cruise = CruiseButtons.NONE
+        if CS.cruise_buttons or (CS.cruise_setting and CS.cruise_setting != CruiseButtons.LKAS):
+          cruise = CS.cruise_buttons
+          setting = CS.cruise_setting
+        # simulate a momentary press
+        elif self.frame % 100 <= 25:
+          if CC.cruiseControl.resume:
+            cruise = CruiseButtons.RES_ACCEL
+          elif CS.lkas_hud['ENABLED']:
+            setting = CruiseButtons.LKAS
+      if cruise is not None:
+        can_sends.append(hondacan.create_buttons_command(self.packer, self.CAN, cruise, setting, CS.scm_buttons, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index c818ab8c372f9b..46bcde96fbcc82 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -219,6 +219,7 @@ def update(self, cp, cp_cam, cp_body):
         ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
 
       if not self.CP.openpilotLongitudinalControl:
+        self.scm_buttons = cp.vl["SCM_BUTTONS"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else {}
         # ACC_HUD is on camera bus on radarless cars
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1be496d9511612..1b7fdf535eb433 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -167,7 +167,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
 
   lkas_hud_values = {
-    'SET_ME_X41': 0x41,
+    'ENABLED': 1,
+    'SET_ME_X20': 0x20,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
@@ -201,11 +202,17 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
   return commands
 
 
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
+def create_buttons_command(packer, CAN, button_val, setting_val, stock_scm_buttons, car_fingerprint):
   values = {
-    'CRUISE_BUTTONS': button_val,
-    'CRUISE_SETTING': 0,
+    'CRUISE_BUTTONS': button_val
   }
+  # Radarless: set CRUISE_SETTING & forward unmodified data bits
+  if len(stock_scm_buttons):
+    values.update({
+      'CRUISE_SETTING': setting_val,
+      'BOH_1': stock_scm_buttons['BOH_1'],
+      'BOH_2': stock_scm_buttons['BOH_2'],
+    })
   # send buttons to camera on radarless cars
   bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index de77d4c3c9656c..bf7e19191360e9 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -67,6 +67,11 @@ class CruiseButtons:
   DECEL_SET = 3
   CANCEL = 2
   MAIN = 1
+  NONE = 0
+
+# CRUISE_SETTINGS
+  DISTANCE = 3
+  LKAS = 1  
 
 
 class CruiseSettings:

From 655da721f8073d10d34331514bd13b876cbce2ab Mon Sep 17 00:00:00 2001
From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Date: Sun, 21 Apr 2024 17:13:23 -0700
Subject: [PATCH 26/26] integra test route

---
 selfdrive/car/tests/routes.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 036f39c1f35df3..5339095991987e 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -96,6 +96,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
+  CarTestRoute("3f8ae015ce70365f/0000002b--d07abeff02", HONDA.ACURA_INTEGRA),
 
   CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),