Quintine
1abd13736b
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.
53 lines
2.0 KiB
Python
53 lines
2.0 KiB
Python
from opendbc.car import get_safety_config, structs
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.byd.carcontroller import CarController
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from opendbc.car.byd.carstate import CarState
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from opendbc.car.byd.values import CAR, BydFlags, BydSafetyFlags
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "byd"
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ret.dashcamOnly = False
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
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# lateral control parameters
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ret.steerActuatorDelay = 0.3
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ret.steerLimitTimer = 0.5
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if candidate in (CAR.BYD_HAN_EV_23, CAR.BYD_SEAL_PERFORMANCE_25):
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ret.steerControlType = structs.CarParams.SteerControlType.torque
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ret.minEnableSpeed = -1.
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ret.minSteerSpeed = 0.1 * CV.KPH_TO_MS
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ret.steerLimitTimer = 0.5
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if ret.steerControlType == structs.CarParams.SteerControlType.torque:
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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# longitudinal control parameters
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# HAN: openpilot long available (ACC_CMD replaced on the tapped camera bus).
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# SEAL: stock ACC_CMD is broadcast directly on the vehicle CAN (bus 0),
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# so it cannot be intercepted/replaced by the panda — stock ACC only (MADS).
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ret.alphaLongitudinalAvailable = candidate != CAR.BYD_SEAL_PERFORMANCE_25
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if alpha_long and ret.alphaLongitudinalAvailable:
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ret.openpilotLongitudinalControl = True
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ret.startingState = True
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ret.startAccel = 0.1
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ret.flags |= BydFlags.LONG_CONTROL.value
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ret.safetyConfigs[0].safetyParam |= BydSafetyFlags.LONG_CONTROL.value
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ret.vEgoStopping = 0.1
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ret.vEgoStarting = 0.1
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ret.stoppingDecelRate = 0.3
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# TODO: add radar support
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ret.radarUnavailable = True
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return ret
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