Quintine
c8903e592c
Car port adapted from HotIce0/openpilot develop_byd_comma4 to sunnypilot's opendbc API (CP_SP signatures, (ret, ret_sp) carstate returns): - opendbc/car/byd/: interface, carstate, carcontroller, bydcan, values, fingerprints (BYD_SEAL_PERFORMANCE_25 with full 91-msg fingerprint) - opendbc/dbc/byd_common.dbc - Brand registration: car/values.py, car/fingerprints.py (+MIGRATION), car.capnp SafetyModel byd @35, torque_data/params.toml - safety/modes/byd.h: SAFETY_BYD 35U with real TX checks (steer torque cmd checks, longitudinal accel checks), MADS LKAS button from PCM_BUTTONS (944), pcm_cruise_check, ESC vehicle_moving. MISRA clean. - safety/tests/test_byd.py: 120 tests (stock + longitudinal variants) - opendbc/sunnypilot/car/byd/mads.py: MadsCarState tracking the dedicated LKAS steering wheel button - sunnypilot/mads/mads.py: allow_always for byd (dedicated LKAS button) - panda: restore SConstruct/SConscript build system, rebuild panda_h7.bin.signed (TIZI) with SAFETY_BYD + MADS lateral gating Known limitation: BYD_HAN_EV_23 fingerprint is a subset of the Seal's, so HAN requires FINGERPRINT=BYD_HAN_EV_23 env var (live fingerprint cannot distinguish it; Seal fingerprints natively).
79 lines
2.0 KiB
Python
79 lines
2.0 KiB
Python
from dataclasses import dataclass, field
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from enum import IntFlag
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from opendbc.car import Bus, DbcDict, PlatformConfig, Platforms, CarSpecs, STD_CARGO_KG
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from opendbc.car.structs import CarParams, CarState
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from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
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Ecu = CarParams.Ecu
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class CANBUS:
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main_bus = 0
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radar_bus = 1
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cam_bus = 2
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class BydSafetyFlags(IntFlag):
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LONG_CONTROL = 1
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class BydFlags(IntFlag):
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LONG_CONTROL = 1
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@dataclass
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class BydCarDocs(CarDocs):
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package: str = "All"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
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#todo add docs and harness info
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@dataclass
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class BydPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "byd_common"})
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class CAR(Platforms):
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BYD_HAN_EV_23 = BydPlatformConfig(
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[BydCarDocs("BYD HAN EV 2023")],
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CarSpecs(mass=1940 + STD_CARGO_KG, wheelbase=2.92, steerRatio=16.5,
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centerToFrontRatio=0.44, tireStiffnessFactor=1.0)
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)
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BYD_SEAL_PERFORMANCE_25 = BydPlatformConfig(
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[BydCarDocs("BYD SEAL PERFORMANCE 2025")],
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# TODO: verify steerRatio and centerToFrontRatio on a real car
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CarSpecs(mass=2100 + STD_CARGO_KG, wheelbase=2.92, steerRatio=16.0,
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centerToFrontRatio=0.44, tireStiffnessFactor=1.0)
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)
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class CarControllerParams:
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def __init__(self, CP):
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self.STEER_STEP = 2 # 50Hz
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self.ACC_SETP = 4 # 25Hz
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self.STEER_ERROR_MAX = 46
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if CP.carFingerprint in (CAR.BYD_HAN_EV_23, CAR.BYD_SEAL_PERFORMANCE_25):
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self.STEER_MAX = 300
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self.STEER_DELTA_UP = 6
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self.STEER_DELTA_DOWN = 6
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self.ACCEL_MAX = 2.0 # m/s^2
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self.ACCEL_MIN = -4.0 # m/s^2
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self.JERK_LIMIT_MAX = 4.0 # m/s^3
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self.JERK_LIMIT_MIN = -4.0 # m/s^3
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STEER_THRESHOLD = 1
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GEAR_MAP = {
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4: CarState.GearShifter.drive,
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2: CarState.GearShifter.reverse,
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3: CarState.GearShifter.neutral,
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1: CarState.GearShifter.park,
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}
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# TODO: Get a BYD VDS to see how firmware could be queried. Until then BYD is
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# identified by legacy CAN fingerprinting only.
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DBC = CAR.create_dbc_map()
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