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.
164 lines
7.0 KiB
Python
164 lines
7.0 KiB
Python
import copy
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from opendbc.car import Bus, create_button_events, structs
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from opendbc.can.parser import CANParser
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarStateBase
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from opendbc.car.byd.values import CAR, DBC, CANBUS, STEER_THRESHOLD, GEAR_MAP
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from opendbc.sunnypilot.car.byd.mads import MadsCarState
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GearShifter = structs.CarState.GearShifter
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ButtonType = structs.CarState.ButtonEvent.Type
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class CarState(CarStateBase, MadsCarState):
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def __init__(self, CP, CP_SP):
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CarStateBase.__init__(self, CP, CP_SP)
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MadsCarState.__init__(self, CP, CP_SP)
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# EPS steering feedback message differs by platform:
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# HAN uses 792 STEERING_TORQUE, SEAL uses 508 STEERING_TORQUE_ANGLE
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if CP.carFingerprint == CAR.BYD_SEAL_PERFORMANCE_25:
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self.steer_msg = "STEERING_TORQUE_ANGLE"
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else:
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self.steer_msg = "STEERING_TORQUE"
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# ADAS cruise state (ACC_HUD_ADAS) and stock ACC echo (ACC_CMD) are on
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# the vehicle CAN (bus 0) on the SEAL, camera CAN (bus 2) on the HAN
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self.adas_on_pt_bus = CP.carFingerprint == CAR.BYD_SEAL_PERFORMANCE_25
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self.mpc_lkas_cmd_msg = None
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self.eps_steering_torque_msg = None
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self.eps_prepared = False
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self.eps_activated = False
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self.acc_cmd_msg = None
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self.mpc_lkas_output = 0
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self.mpc_lkas_active = False
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self.mpc_lkas_request_prepare = False
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self.mpc_lkas_angle_output = 0.0
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def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
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cp = can_parsers[Bus.pt]
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cp_cam = can_parsers[Bus.cam]
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cp_adas = cp if self.adas_on_pt_bus else cp_cam
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ret = structs.CarState()
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ret_sp = structs.CarStateSP()
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# car Speed
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ret.vEgoRaw = cp.vl["ESC"]["VEHICLE_SPEED"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = cp.vl["BRAKE_APPLIED"]["STANDSTILL"] == 1
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# Gas pedal
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ret.gasPressed = cp.vl["PEDAL"]["GAS_PEDAL"] > 0
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# Brake pedal
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ret.brakePressed = cp.vl["PEDAL"]["BRAKE_PEDAL"] > 0
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# Steering wheel
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ret.steeringAngleDeg = cp.vl["STEER_MODULE"]["STEER_ANGLE"]
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ret.steeringRateDeg = cp.vl["STEER_MODULE"]["STEERING_RATE"]
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ret.steeringTorque = cp.vl[self.steer_msg]["Steer_Torque_Sensor"]
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ret.steeringTorqueEps = cp.vl[self.steer_msg]["MAIN_TORQUE"]
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# TODO: looks like STEER_THRESHOLD is too small
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
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ret.steerFaultPermanent = cp.vl[self.steer_msg]["TORQUE_FAILED"] != 0
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ret.steerFaultTemporary = cp.vl[self.steer_msg]["TORQUE_FAILED"] != 0
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ret.stockAeb = cp_adas.vl["ACC_HUD_ADAS"]["AEB"] == 1
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ret.stockFcw = cp_adas.vl["ACC_HUD_ADAS"]["FCW"] == 1 # Forward Collision Warning
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# Cruise state
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ret.cruiseState.enabled = cp_adas.vl["ACC_HUD_ADAS"]["CRUISE_STATE"] in (3, 5) # (Active, Override)
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ret.cruiseState.speed = cp_adas.vl["ACC_HUD_ADAS"]["SET_SPEED"] * 10 * CV.KPH_TO_MS
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ret.cruiseState.available = cp_adas.vl["ACC_HUD_ADAS"]["CRUISE_STATE"] not in (8, 9) # (Failure, PermanentFailure)
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ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
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# Gear
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ret.gearShifter = GEAR_MAP.get(int(cp.vl["DRIVE_STATE"]["GEAR"]), GearShifter.unknown)
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# MADS: track the dedicated LKAS steering wheel button
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MadsCarState.update_mads(self, ret, can_parsers)
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# button presses
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ret.leftBlinker = cp.vl["STALKS"]["TURN_SIGNAL_SWITCH"] == 3 # LeftSteeringLongLift
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ret.rightBlinker = cp.vl["STALKS"]["TURN_SIGNAL_SWITCH"] == 5 # RightSteeringLongLift
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ret.buttonEvents = [*create_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas})]
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# lock info
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ret.doorOpen = any([cp.vl["METER_CLUSTER"]["FRONT_LEFT_DOOR"],
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cp.vl["METER_CLUSTER"]["FRONT_RIGHT_DOOR"],
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cp.vl["METER_CLUSTER"]["BACK_LEFT_DOOR"],
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cp.vl["METER_CLUSTER"]["BACK_RIGHT_DOOR"]])
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ret.seatbeltUnlatched = cp.vl["METER_CLUSTER"]["SEATBELT_DRIVER"] != 1
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# blindspot sensors
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# ret.leftBlindspot = False
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# ret.rightBlindspot = False
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# Messages needed by carcontroller
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# for generate MPC_LKAS_CMD
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self.mpc_lkas_cmd_msg = copy.copy(cp_cam.vl["MPC_LKAS_CMD"])
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self.eps_prepared = cp.vl[self.steer_msg]["LKSPrepare"] != 0
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self.eps_activated = cp.vl[self.steer_msg]["Cruise_Activated"] != 0
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# for generate steering feedback message
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self.eps_steering_torque_msg = copy.copy(cp.vl[self.steer_msg])
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self.mpc_lkas_output = cp_cam.vl["MPC_LKAS_CMD"]["LKAS_Output"]
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self.mpc_lkas_active = cp_cam.vl["MPC_LKAS_CMD"]["LKAS_ACTIVE"] != 0
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self.mpc_lkas_request_prepare = cp_cam.vl["MPC_LKAS_CMD"]["LKASPrepare"] != 0
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# camera's angle-based LKAS request (SEAL), used to spoof the 508 TARGET_ANGLE echo
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self.mpc_lkas_angle_output = cp_cam.vl["MPC_LKAS_CMD_ANGLE"]["LKAS_Output"]
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# for generate ACC_CMD
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self.acc_cmd_msg = copy.copy(cp_adas.vl["ACC_CMD"])
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return ret, ret_sp
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@staticmethod
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def get_can_parsers(CP, CP_SP):
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# Frequencies are deliberately conservative (10x timeout forgiveness):
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# only messages required for control are alive-checked, everything
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# optional/state-dependent is parsed but not alive-checked (nan).
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pt_messages = [
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# sig_address, frequency
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("ESC", 10),
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("BRAKE_APPLIED", 10),
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("PEDAL", 10),
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("STEER_MODULE", 10),
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("DRIVE_STATE", 10),
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("STALKS", float('nan')),
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("METER_CLUSTER", float('nan')),
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# steering wheel buttons; bus assignment is harness dependent
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("PCM_BUTTONS", float('nan')),
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]
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cam_messages = [
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# stock camera command echoes, only present when stock ADAS is active
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("MPC_LKAS_CMD", float('nan')),
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# SEAL camera also broadcasts an angle-based LKAS command (parsed for future use)
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("MPC_LKAS_CMD_ANGLE", float('nan')),
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# PCM_BUTTONS may be forwarded on the camera bus on some harnesses
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("PCM_BUTTONS", float('nan')),
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]
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# ADAS cruise state and stock ACC echo: vehicle CAN (bus 0) on the SEAL,
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# camera CAN (bus 2) on the HAN. Alive-check ACC_HUD_ADAS only on the bus it lives on.
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adas_messages = [("ACC_HUD_ADAS", 10), ("ACC_CMD", float('nan'))]
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if CP.carFingerprint == CAR.BYD_SEAL_PERFORMANCE_25:
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pt_messages.extend(adas_messages)
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else:
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cam_messages.extend(adas_messages)
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# EPS steering feedback message differs by platform; alive-check only
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# the one this car has, parse the other opportunistically
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if CP.carFingerprint == CAR.BYD_SEAL_PERFORMANCE_25:
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pt_messages.append(("STEERING_TORQUE_ANGLE", 10))
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pt_messages.append(("STEERING_TORQUE", float('nan')))
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else:
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pt_messages.append(("STEERING_TORQUE", 10))
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pt_messages.append(("STEERING_TORQUE_ANGLE", float('nan')))
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return {
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Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.main_bus),
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Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam_bus),
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}
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