commaai · vanillagorillaa · May 13, 2025 · May 13, 2025 · May 14, 2025 · May 16, 2025
diff --git a/opendbc/car/honda/carstate.py b/opendbc/car/honda/carstate.py
@@ -205,6 +205,10 @@ def update(self, can_parsers) -> structs.CarState:
       gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
+    # Regen braking is braking
+    if self.CP.carFingerprint == CAR.HONDA_INSIGHT:
+      ret.regenBraking = cp.vl["GEARBOX"]["REGEN_STRENGTH"] != 0
+
     ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
     ret.gasPressed = ret.gas > 1e-5
 

@@ -20,6 +20,7 @@ BO_ 399 STEER_STATUS: 7 EPS
 
 BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ REGEN_STRENGTH : 14|3@0+ (1,0) [0|6] "" EON
  SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
@@ -92,6 +93,7 @@ CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 
 VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 REGEN_STRENGTH 0 "none" 1 "one arrow" 2 "two arrows" 3 "three arrows";
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;

diff --git a/opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc b/opendbc/dbc/generator/honda/honda_insight_ex_2019_can.dbc
@@ -5,6 +5,7 @@ CM_ "IMPORT _steering_sensors_a.dbc";
 
 BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ REGEN_STRENGTH : 14|3@0+ (1,0) [0|6] "" EON
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
@@ -15,5 +16,8 @@ BO_ 432 STANDSTILL: 7 VSA
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
+CM_ SG_ 419 REGEN_STRENGTH "strength of regen, shows as arrows on dashboard";
+
+VAL_ 419 REGEN_STRENGTH 0 "none" 1 "one arrow" 2 "two arrows" 3 "three arrows";
 VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
 VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P";
diff --git a/opendbc/dbc/generator/honda/honda_pilot_2023_can.dbc b/opendbc/dbc/generator/honda/honda_pilot_2023_can.dbc
@@ -8,6 +8,7 @@ BO_ 401 GEARBOX_15T: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 419 GEARBOX: 8 XXX
+ SG_ REGEN_STRENGTH : 14|3@0+ (1,0) [0|6] "" XXX
  SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
  SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
@@ -73,6 +74,7 @@ BO_ 829 LKAS_HUD: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
+CM_ SG_ 419 REGEN_STRENGTH "strength of regen, shows as arrows on dashboard";
 CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
@@ -81,6 +83,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
 CM_ SG_ 829 LANE_LINES "related to lane lines on cluster, left/right white/green";
 
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
+VAL_ 419 REGEN_STRENGTH 0 "none" 1 "one arrow" 2 "two arrows" 3 "three arrows";
 VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P";
 VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P";
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";

diff --git a/opendbc/safety/modes/honda.h b/opendbc/safety/modes/honda.h
@@ -163,6 +163,11 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
       }
     }
   }
+
+  // Regen paddle check
+  if (addr == 0x1A3) {
+    regen_braking = ((GET_BYTE(to_push, 1) >> 4) & 0x07U) != 0U;
+  }
 }
 
 static bool honda_tx_hook(const CANPacket_t *to_send) {

diff --git a/opendbc/safety/tests/test_honda.py b/opendbc/safety/tests/test_honda.py
@@ -224,6 +224,11 @@ def _user_brake_msg(self, brake):
   def _user_gas_msg(self, gas):
     return self._powertrain_data_msg(gas_pressed=gas)
 
+  # existence of _user_regen_msg adds regen tests
+  def _user_regen_msg(self, regen):
+    values = {"REGEN_STRENGTH": 4 if regen else 0}
+    return self.packer.make_can_msg_panda("GEARBOX", 0, values)
+
   def _send_steer_msg(self, steer):
     values = {"STEER_TORQUE": steer}
     return self.packer.make_can_msg_panda("STEERING_CONTROL", self.STEER_BUS, values)