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byd: spoof 508 steering feedback to camera on SEAL — fixes ADAS lockout

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The Seal's camera faults (ACC + ADAS + AEB warning lights, 'unable to
activate ADAS') because panda neutralizes its intercepted 790 LKAS
commands while the camera watches the 508 feedback for execution —
seeing its requests ignored, it disables the whole ADAS suite.

The Han avoids this by echoing the camera's request back in the 792
feedback; the Seal needs the same on its 508 STEERING_TORQUE_ANGLE:

- bydcan.create_steering_torque_angle: mirrors the Han spoof logic on
  the 508 layout — when camera LKAS is active, echo its 790 torque
  request into MAIN_TORQUE and its 482 angle request into TARGET_ANGLE
  with Cruise_Activated=1; prepare -> LKSPrepare=1; passive -> neutral
- carcontroller: Seal sends the 508 spoof, Han keeps the 792 spoof
- carstate: capture the camera's 482 angle command for the spoof
- panda: whitelist 508 TX on bus 2 (absolute-limit check), stock 508
  blocked 0->2 via check_relay — one config covers both platforms
- firmware rebuilt; spoof decode-verified (camera's exact torque+angle
  echoed back); 120 safety tests + MISRA clean

NOTE: the ADAS fault latches — the car needs a full power cycle (or a
few minutes off) after flashing this build for the dash warnings to
clear.
This commit is contained in:
Quintine committed 2026-07-25 19:37:06 +10:00
1 parent 63e9aa6cc1
commit 02f1972e99
23 files changed
+81 -21
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opendbc_repo/opendbc/safety/tests/test_byd.py
+9 -8
View File
@@ -7,8 +7,9 @@ import opendbc.safety.tests.common as common
from opendbc.safety.tests.common import CANPackerSafety
MSG_MPC_LKAS_CMD = 790 # TX by OP, lateral actuation towards EPS
MSG_STEERING_TORQUE = 792 # RX from EPS / TX by OP, torque feedback towards camera
MSG_ACC_HUD_ADAS = 813 # RX from camera, ACC state
MSG_STEERING_TORQUE = 792 # RX from EPS / TX by OP, torque feedback towards camera (HAN)
MSG_STEERING_TORQUE_ANGLE = 508 # RX from EPS / TX by OP, torque feedback towards camera (SEAL)
MSG_ACC_HUD_ADAS = 813 # RX from ADAS, ACC state
MSG_ACC_CMD = 814 # TX by OP, longitudinal actuation
MSG_PCM_BUTTONS = 944 # RX from PCM, steering wheel buttons
@@ -36,10 +37,10 @@ def byd_checksum(msg):
class TestBydSafetyBase(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
TX_MSGS = [[MSG_MPC_LKAS_CMD, 0], [MSG_STEERING_TORQUE, 2]]
TX_MSGS = [[MSG_MPC_LKAS_CMD, 0], [MSG_STEERING_TORQUE, 2], [MSG_STEERING_TORQUE_ANGLE, 2]]
STANDSTILL_THRESHOLD = 0
RELAY_MALFUNCTION_ADDRS = {0: (MSG_MPC_LKAS_CMD,), 2: (MSG_STEERING_TORQUE,)}
FWD_BLACKLISTED_ADDRS = {0: [MSG_STEERING_TORQUE], 2: [MSG_MPC_LKAS_CMD]}
RELAY_MALFUNCTION_ADDRS = {0: (MSG_MPC_LKAS_CMD,), 2: (MSG_STEERING_TORQUE, MSG_STEERING_TORQUE_ANGLE)}
FWD_BLACKLISTED_ADDRS = {0: [MSG_STEERING_TORQUE, MSG_STEERING_TORQUE_ANGLE], 2: [MSG_MPC_LKAS_CMD]}
MAX_TORQUE_LOOKUP = ([0], [300])
MAX_RATE_UP = 6
@@ -98,9 +99,9 @@ class TestBydStockSafety(TestBydSafetyBase):
class TestBydLongitudinalSafety(TestBydSafetyBase):
TX_MSGS = [[MSG_MPC_LKAS_CMD, 0], [MSG_STEERING_TORQUE, 2], [MSG_ACC_CMD, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (MSG_MPC_LKAS_CMD, MSG_ACC_CMD), 2: (MSG_STEERING_TORQUE,)}
FWD_BLACKLISTED_ADDRS = {0: [MSG_STEERING_TORQUE], 2: [MSG_MPC_LKAS_CMD, MSG_ACC_CMD]}
TX_MSGS = [[MSG_MPC_LKAS_CMD, 0], [MSG_STEERING_TORQUE, 2], [MSG_STEERING_TORQUE_ANGLE, 2], [MSG_ACC_CMD, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (MSG_MPC_LKAS_CMD, MSG_ACC_CMD), 2: (MSG_STEERING_TORQUE, MSG_STEERING_TORQUE_ANGLE)}
FWD_BLACKLISTED_ADDRS = {0: [MSG_STEERING_TORQUE, MSG_STEERING_TORQUE_ANGLE], 2: [MSG_MPC_LKAS_CMD, MSG_ACC_CMD]}
MIN_ACCEL = 20 # -4.0 m/s^2, raw = (m/s^2 + 5) / 0.05
MAX_ACCEL = 140 # 2.0 m/s^2