Align damping qualification fixtures and preserve MISRA parameter immutability

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -1273,7 +1273,8 @@ static bool hyundai_canfd_angle_aol_capacity(safety_config *ret) {
   return bounded;
 }
 
-static safety_config hyundai_canfd_init_validated(uint16_t param) {
+static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
+  uint16_t param = supplied_param;
   const uint16_t HYUNDAI_PARAM_LONGITUDINAL = 4U;
   const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
   const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;

opendbc_repo/opendbc/safety/tests/test_hkg_mode_parity.py

@@ -119,7 +119,7 @@ def test_gv70_long_profile_admits_independent_aol():
   from opendbc.car.hyundai.tests.test_gv70_longitudinal import params as gv70_params
   from openpilot.starpilot.car.hyundai.aol import policy_for
   cp = gv70_params()
-  assert cp.openpilotLongitudinalControl and cp.safetyConfigs[0].safetyParam == 0x15
+  assert cp.openpilotLongitudinalControl and cp.safetyConfigs[0].safetyParam == 0x2015
   policy = policy_for(cp)
   assert policy.intent_supported and policy.runtime_supported and policy.explicit_latch
 
@@ -181,7 +181,8 @@ def test_gv70_long_aol_rejects_unsupported_profile(defect):
   cp.safetyConfigs[0].safetyParam |= policy.safety_param_addition
   cp.alternativeExperience |= policy.alternative_experience_addition
   assert qualified_long(cp, marked_only=True)
-  assert native_accepts_cp(cp, int(cp.safetyConfigs[0].safetyModel.raw), 0x815)
+  assert cp.safetyConfigs[0].safetyParam == 0x2815
+  assert native_accepts_cp(cp, int(cp.safetyConfigs[0].safetyModel.raw), 0x2815)
   if defect == 'pcm':
     cp.pcmCruise = True
   elif defect == 'long':

openpilot/selfdrive/pandad/tests/test_aol_protocol.cc

@@ -498,7 +498,7 @@ int main() {
     0x7090U, 0x7092U, 0x7208U, 0x720AU, 0x7228U, 0x722AU, 0x7809U, 0x7829U,
   };
   for (uint32_t word = 0U; word <= 0xFFFFU; ++word) {
-    bool expected = word == 0x0815U || word == 0x0895U || word == 0x8815U || word == 0x8895U || word == 0x5491U || word == 0x5C91U || word == 0x5C95U || word == 0x5495U;
+    bool expected = word == 0x2815U || word == 0x2895U || word == 0x0815U || word == 0x0895U || word == 0x8815U || word == 0x8895U || word == 0x5491U || word == 0x5C91U || word == 0x5C95U || word == 0x5495U;
     for (uint16_t stock_word : stock_canfd_words) {
       expected = expected || word == stock_word;
     }

openpilot/starpilot/aol/tests/test_gv70_two_panda_long.py

@@ -18,7 +18,7 @@ def test_selected_gv70_long_owner_preserves_factory_configuration(pandas):
   cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
   cp.alternativeExperience |= policy.alternative_experience_addition
   assert qualified_long(cp, marked_only=True) and config_index(cp) == pandas - 1
-  assert native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x815)
+  assert native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x2815)
   assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.noOutput), 0)
   assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x895)
   marked = cp.to_dict()
@@ -28,14 +28,18 @@ def test_selected_gv70_long_owner_preserves_factory_configuration(pandas):
   assert marked['alternativeExperience'] == 32
 
 
-@pytest.mark.parametrize('fault', ['aux_word', 'aux_model', 'order', 'extra_slot', 'owner_model', 'owner_word',
+@pytest.mark.parametrize('fault', ['missing_damping', 'aux_word', 'aux_model', 'order', 'extra_slot', 'owner_model', 'owner_word',
                                   'experience', 'foreign_identity', 'angle', 'alt_lka', 'alt_buttons', 'camera',
                                   'ccnc', 'hybrid', 'passive', 'dashcam', 'not_car', 'pcm', 'missing_long', 'steer_type'])
 def test_two_panda_gv70_long_refuses_unqualified_configuration(fault):
   cp, _, _ = factory(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
-  cp.safetyConfigs[-1].safetyParam = 0x815
+  cp.safetyConfigs[-1].safetyParam = 0x2815
   cp.alternativeExperience = 32
-  if fault == 'aux_word':
+  assert qualified_long(cp, marked_only=True)
+  assert native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x2815)
+  if fault == 'missing_damping':
+    cp.safetyConfigs[-1].safetyParam = 0x815
+  elif fault == 'aux_word':
     cp.safetyConfigs[0].safetyParam = 1
   elif fault == 'aux_model':
     cp.safetyConfigs[0].safetyModel = 'silent'
@@ -46,7 +50,7 @@ def test_two_panda_gv70_long_refuses_unqualified_configuration(fault):
   elif fault == 'owner_model':
     cp.safetyConfigs[-1].safetyModel = 'hyundai'
   elif fault == 'owner_word':
-    cp.safetyConfigs[-1].safetyParam = 0x895
+    cp.safetyConfigs[-1].safetyParam = 0x2895
   elif fault == 'experience':
     cp.alternativeExperience = 0
   elif fault == 'foreign_identity':
@@ -68,4 +72,4 @@ def test_two_panda_gv70_long_refuses_unqualified_configuration(fault):
   elif fault == 'steer_type':
     cp.steerControlType = 'angle'
   assert not qualified_long(cp, marked_only=True)
-  assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x815)
+  assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x2815)

openpilot/starpilot/tests/test_ev6_startup.py

@@ -112,7 +112,8 @@ class TestEV6Startup(unittest.TestCase):
           admission_results and admission_results[0]):
         self.assertIs(holder.owner.outcome, Outcome.SENT_UNCONFIRMED)
         self.assertTrue(ci.CP.openpilotLongitudinalControl)
-        self.assertEqual(ci.CP.safetyConfigs[-1].safetyParam, 0x15)
+        self.assertEqual(ci.CP.safetyConfigs[-1].safetyParam,
+                         0x2015 if car == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else 0x15)
     return ci, holder, requests
 
   def test_sent_prepublication_binds_immutable_template_and_suppressed_protocol(self):

openpilot/starpilot/tests/test_gv70_startup.py

@@ -27,7 +27,7 @@ class TestGV70Startup(unittest.TestCase):
     self.assertIs(holder.owner.outcome, Outcome.SENT_UNCONFIRMED)
     self.assertIsInstance(ci.CC.adrv_template, GV70Template)
     self.assertNotIsInstance(ci.CC.adrv_template, EV6Template)
-    self.assertEqual(ci.CP.safetyConfigs[-1].safetyParam, 0x15)
+    self.assertEqual(ci.CP.safetyConfigs[-1].safetyParam, 0x2015)
     self.assertIn(b'\x28\x83\x01', requests)
     self.assertNotIn(b'\x28\x03\x01', requests)
     ci.CP.safetyConfigs[-1].safetyParam ^= 4

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "88ebc71e4fd19cdea51fe362738b6641edb5dc03c4f9b4e9f14671c4deff470b", "schema_version": 1}
+{"protected_inventory_sha256": "e6f127f6aa4406e96340a814e491f5889c01f4e66213492134703996758d0a87", "schema_version": 1}