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Merge Rivian static corrections with Toyota parity

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firestar5683
2026-10-22 19:39:01 -05:00
parent 3f06976373 951947cef2
commit 7aea14397c
2 changed files with 16 additions and 16 deletions
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opendbc_repo/opendbc/safety/modes/rivian.h
+15 -15
View File
@@ -1,6 +1,7 @@
#pragma once
#include "opendbc/safety/declarations.h"
#include "opendbc/safety/modes/rivian_stock_aol.h"
static uint8_t rivian_get_counter(const CANPacket_t *msg) {
// Signal: ESP_Status_Counter, VDM_PropStatus_Counter
@@ -42,15 +43,14 @@ static uint32_t rivian_compute_checksum(const CANPacket_t *msg) {
if (msg->addr == 0x390U) {
chksum = crc8_update(0U, 0x90U, 0x1DU);
chksum = crc8_update(chksum, 0x03U, 0x1DU);
for (int i = 1; i < GET_LEN(msg); i++) {
const int len = GET_LEN(msg);
for (int i = 1; i < len; i++) {
chksum = crc8_update(chksum, msg->data[i], 0x1DU);
}
}
return chksum;
}
#include "opendbc/safety/modes/rivian_stock_aol.h"
static bool rivian_get_quality_flag_valid(const CANPacket_t *msg) {
bool valid = false;
if (msg->addr == 0x208U) {
@@ -157,11 +157,13 @@ static safety_config rivian_init(uint16_t param) {
{0x162, 2, 8, .check_relay = true},
};
// 0x160 = ACM_longitudinalRequest
#ifdef ALLOW_DEBUG
static const CanMsg RIVIAN_LONG_TX_MSGS[] = {
{0x120, 0, 8, .check_relay = true},
{0x321, 2, 7, .check_relay = true},
{0x160, 0, 5, .check_relay = true},
};
#endif
static const RxCheck rivian_rx_descriptors[] = {
{.msg = {{0x208, 0, 8, 50U, .max_counter = 14U}, { 0 }, { 0 }}}, // ESP_Status (speed)
@@ -183,18 +185,18 @@ static safety_config rivian_init(uint16_t param) {
rivian_rx_checks[i] = rivian_rx_descriptors[i];
}
bool rivian_longitudinal = false;
SAFETY_UNUSED(param);
#ifdef ALLOW_DEBUG
const uint16_t FLAG_RIVIAN_LONG_CONTROL = 1U;
rivian_longitudinal = GET_FLAG(param, FLAG_RIVIAN_LONG_CONTROL);
#endif
bool aol_param_supported = param == 0U;
safety_config ret = BUILD_SAFETY_CFG(rivian_rx_checks, RIVIAN_TX_MSGS);
rivian_aol_reset();
#ifdef ALLOW_DEBUG
const bool rivian_longitudinal = GET_FLAG(param, 1U);
rivian_aol_longitudinal = rivian_longitudinal;
rivian_aol_enabled = ((unsigned int)alternative_experience == 32U) &&
((param == 0U) || ((param == 1U) && rivian_longitudinal));
aol_param_supported |= param == 1U;
if (rivian_longitudinal) {
ret = BUILD_SAFETY_CFG(rivian_rx_checks, RIVIAN_LONG_TX_MSGS);
}
#endif
rivian_aol_enabled = ((unsigned int)alternative_experience == 32U) && aol_param_supported;
if (rivian_aol_enabled) {
static const AolSafetyPolicy policy = {
.reset = rivian_aol_reset,
@@ -205,8 +207,6 @@ static safety_config rivian_init(uint16_t param) {
};
aol_policy = &policy;
}
safety_config ret = rivian_longitudinal ? BUILD_SAFETY_CFG(rivian_rx_checks, RIVIAN_LONG_TX_MSGS) :
BUILD_SAFETY_CFG(rivian_rx_checks, RIVIAN_TX_MSGS);
if (!rivian_aol_enabled) {
ret.rx_checks_len -= 1; // Ordinary upstream RX catalog remains exactly five rows.
}
prebuilt.json
+1 -1
View File
@@ -1 +1 @@
{"protected_inventory_sha256": "7edabf3b542f7610a04567178d356bd1f784ac97318a173b34e4585cb340f785", "schema_version": 1}
{"protected_inventory_sha256": "dea883a23f591b40d0b116b8a06d9cfe969a944bca3202646a1cbeb00441a798", "schema_version": 1}