byd: fix SEAL bus topology from live dump — ADAS on bus 0, PCM_BUTTONS confirmed

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Live bus dump from the Seal showed a different topology than the Han:
- ACC_HUD_ADAS (813) + ACC_CMD (814) are broadcast on the vehicle CAN
  (bus 0), not the camera CAN. Panda rx check expected 813 on bus 2 and
  never saw it -> safety config invalid -> controls blocked forever.
- PCM_BUTTONS (944) confirmed on bus 0 at 20Hz (MADS button placement OK)
- 482 MPC_LKAS_CMD_ANGLE present on bus 2 (angle LKAS cmd; for future use)

Changes:
- carstate: ADAS messages (ACC_HUD_ADAS/ACC_CMD) read from bus 0 on SEAL,
  bus 2 on HAN (cp_adas accessor); parsers built per platform/bus
- panda byd.h: 813 cruise check is bus-independent; rx checks accept
  813 on bus 0 or 2, 944 on bus 0 or 2 (first-seen-wins)
- interface: disable openpilot longitudinal for SEAL — stock ACC_CMD
  originates on bus 0 where the panda cannot intercept it. Stock ACC +
  MADS lateral it is (which is the point of MADS anyway).
- panda firmware rebuilt

Verified: SEAL (cruise+lkas button via bus 0, alphaLong=False) and
HAN (bus 2 topology, alphaLong=True) both canValid; 120 safety tests +
MISRA clean.

...

This commit is contained in:

Quintine committed 2026-07-25 18:57:17 +10:00

1 parent 5684dd9d0e

commit 1abd13736b

21 files changed

+46 -30

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