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).
25 lines
764 B
Python
25 lines
764 B
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from enum import StrEnum
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from opendbc.car import Bus, structs
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from opendbc.sunnypilot.mads_base import MadsCarStateBase
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from opendbc.can.parser import CANParser
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class MadsCarState(MadsCarStateBase):
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def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
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super().__init__(CP, CP_SP)
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def update_mads(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
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cp = can_parsers[Bus.pt]
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self.prev_lkas_button = self.lkas_button
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self.lkas_button = cp.vl["PCM_BUTTONS"]["LKAS_ON_BTN"]
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