Quintine
02f1972e99
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.
117 lines
4.6 KiB
Python
117 lines
4.6 KiB
Python
import numpy as np
|
|
from opendbc.can.packer import CANPacker
|
|
from opendbc.car import Bus, structs
|
|
from opendbc.car.lateral import apply_meas_steer_torque_limits
|
|
from opendbc.car.interfaces import CarControllerBase
|
|
from opendbc.car.byd.bydcan import BydCAN
|
|
from opendbc.car.byd.values import CAR, CarControllerParams
|
|
|
|
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
|
ButtonType = structs.CarState.ButtonEvent.Type
|
|
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
|
|
|
|
|
class LKASState:
|
|
INACTIVE = 0
|
|
PREPARING = 1
|
|
ACTIVE = 2
|
|
|
|
|
|
class CarController(CarControllerBase):
|
|
def __init__(self, dbc_names, CP, CP_SP):
|
|
super().__init__(dbc_names, CP, CP_SP)
|
|
self.params = CarControllerParams(CP)
|
|
self.packer = CANPacker(dbc_names[Bus.pt])
|
|
self.can = BydCAN(self.packer)
|
|
self.apply_torque_last = 0
|
|
|
|
self.lkas_state = LKASState.INACTIVE
|
|
self.lkas_counter_updated = False
|
|
|
|
self.apply_accel_last = 0
|
|
|
|
# EPS steering feedback is spoofed towards the camera on both platforms so
|
|
# the stock ADAS does not fault while its LKAS commands are intercepted:
|
|
# HAN uses 792 STEERING_TORQUE, SEAL uses 508 STEERING_TORQUE_ANGLE.
|
|
self.seal_platform = CP.carFingerprint == CAR.BYD_SEAL_PERFORMANCE_25
|
|
|
|
def update(self, CC, CC_SP, CS, now_nanos):
|
|
# car control running in 100Hz
|
|
actuators = CC.actuators
|
|
can_sends = []
|
|
|
|
if (self.frame % self.params.STEER_STEP) == 0:
|
|
# steering control running in 50Hz
|
|
if not self.lkas_counter_updated:
|
|
self.lkas_counter_updated = True
|
|
self.can.update_mpc_lkas_counter(
|
|
int(CS.mpc_lkas_cmd_msg["COUNTER"] + 1) & 0xF)
|
|
self.can.update_eps_steering_torque_counter(
|
|
int(CS.eps_steering_torque_msg["COUNTER"] + 1) & 0xF)
|
|
self.can.update_acc_cmd_counter(
|
|
int(CS.acc_cmd_msg["COUNTER"] + 1) & 0xF)
|
|
|
|
# update lkas state
|
|
if self.lkas_state == LKASState.INACTIVE:
|
|
if CC.latActive:
|
|
self.lkas_state = LKASState.PREPARING
|
|
elif self.lkas_state == LKASState.PREPARING:
|
|
if CS.eps_prepared:
|
|
self.lkas_state = LKASState.ACTIVE
|
|
elif self.lkas_state == LKASState.ACTIVE:
|
|
if not CC.latActive:
|
|
self.lkas_state = LKASState.INACTIVE
|
|
|
|
lkas_request_prepare = int(self.lkas_state == LKASState.PREPARING)
|
|
lkas_active = int(self.lkas_state == LKASState.ACTIVE)
|
|
if self.lkas_state in (LKASState.PREPARING, LKASState.ACTIVE):
|
|
lkas_mode = BydCAN.LKAS_MODE_ACTIVE2
|
|
else:
|
|
lkas_mode = BydCAN.LKAS_MODE_PASSIVE
|
|
|
|
# calc apply torque
|
|
apply_torque = 0
|
|
if self.lkas_state == LKASState.ACTIVE:
|
|
apply_torque = int(round(actuators.torque * self.params.STEER_MAX))
|
|
apply_torque = apply_meas_steer_torque_limits(apply_torque, self.apply_torque_last,
|
|
CS.out.steeringTorqueEps, self.params)
|
|
|
|
pack = self.can.create_steering_control_torque(CS.mpc_lkas_cmd_msg, apply_torque,
|
|
lkas_request_prepare, lkas_active,
|
|
lkas_mode, CS.eps_activated)
|
|
can_sends.append(pack)
|
|
if self.seal_platform:
|
|
pack = self.can.create_steering_torque_angle(CS.eps_steering_torque_msg,
|
|
CS.mpc_lkas_output,
|
|
CS.mpc_lkas_request_prepare,
|
|
CS.mpc_lkas_active,
|
|
CS.mpc_lkas_angle_output)
|
|
else:
|
|
pack = self.can.create_steering_torque(CS.eps_steering_torque_msg,
|
|
CS.mpc_lkas_output,
|
|
CS.mpc_lkas_request_prepare,
|
|
CS.mpc_lkas_active)
|
|
can_sends.append(pack)
|
|
|
|
self.apply_torque_last = apply_torque
|
|
|
|
# Longitudinal control
|
|
if self.CP.openpilotLongitudinalControl:
|
|
if (self.frame % self.params.ACC_SETP) == 0:
|
|
accel = 0
|
|
|
|
if CC.longActive:
|
|
accel = float(np.clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
|
|
|
|
pack = self.can.create_acc_cmd(CS.acc_cmd_msg, accel)
|
|
can_sends.append(pack)
|
|
self.apply_accel_last = accel
|
|
|
|
new_actuators = actuators.as_builder()
|
|
new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
|
|
new_actuators.torqueOutputCan = self.apply_torque_last
|
|
new_actuators.accel = self.apply_accel_last
|
|
|
|
self.frame += 1
|
|
return new_actuators, can_sends
|