Quintine
b598ba5dcb
The Seal EPS reports steering torque/prepare/activated state on
508 STEERING_TORQUE_ANGLE (different bit layout; driver torque factor
0.1), unlike the Han which uses 792 STEERING_TORQUE. The Seal's
fingerprint contains 508 but not 792, so alive-checking 792 tripped
canError ("Unknown Vehicle Variant") the moment the interface started.
- carstate: per-platform steering message selection (508 strict-checked
on Seal, 792 on Han; the other parsed opportunistically)
- carcontroller: don't send 792-layout camera feedback on the Seal;
stock 508 forwards unmodified for now (camera-feedback spoofing for
the Seal's 508 to be evaluated after a bus dump + road test)
- panda byd.h: rx check accepts 792 or 508 (first-seen-wins), torque
sampling handles both layouts, driver torque rescaled for 508's 0.1x
factor
- panda firmware rebuilt (panda_h7.bin.signed)
- tests: Seal(508) + Han(792) both verified canValid with correct
torque values; 120 safety tests + MISRA clean
1 line
18 B
Plaintext
Executable File
1 line
18 B
Plaintext
Executable File
DEV-264ebf95-DEBUG |