From ec957d643073b51ed83a4b739b17104bb7f8ea8e Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 22 Oct 2026 19:31:45 -0500 Subject: [PATCH 1/2] Fix Rivian native static diagnostics --- opendbc_repo/opendbc/safety/modes/rivian.h | 30 +++++++++++----------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/opendbc_repo/opendbc/safety/modes/rivian.h b/opendbc_repo/opendbc/safety/modes/rivian.h index a4aa04d2d8..5ebcb32b2d 100644 --- a/opendbc_repo/opendbc/safety/modes/rivian.h +++ b/opendbc_repo/opendbc/safety/modes/rivian.h @@ -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. } From 6a8c1cf8cf611027f4eb6fc4e860d8efec462947 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 22 Oct 2026 19:32:20 -0500 Subject: [PATCH 2/2] Build Rivian native static corrections --- panda/board/obj/body_h7.bin.signed | Bin 239932 -> 239932 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12040 -> 12040 bytes panda/board/obj/bootstub.panda.bin | Bin 11176 -> 11176 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18824 -> 18824 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18824 -> 18824 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18824 -> 18824 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18824 -> 18824 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18824 -> 18824 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18824 -> 18824 bytes .../obj/bootstub.panda_h7_tesla_wake.bin | Bin 18824 -> 18824 bytes ....panda_h7_tesla_wake_can_ignition_only.bin | Bin 18824 -> 18824 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11176 -> 11176 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11176 -> 11176 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_tesla_wake.bin | Bin 11176 -> 11176 bytes ...tub.panda_tesla_wake_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 231848 -> 231848 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 231820 -> 231820 bytes panda/board/obj/panda_h7.bin.signed | Bin 240880 -> 240880 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 240856 -> 240856 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 240968 -> 240968 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 240952 -> 240952 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 240880 -> 240880 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 240856 -> 240856 bytes .../board/obj/panda_h7_tesla_wake.bin.signed | Bin 241016 -> 241016 bytes ...h7_tesla_wake_can_ignition_only.bin.signed | Bin 240992 -> 240992 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 231932 -> 231932 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 231908 -> 231908 bytes panda/board/obj/panda_remote.bin.signed | Bin 231844 -> 231844 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 231816 -> 231816 bytes panda/board/obj/panda_tesla_wake.bin.signed | Bin 231980 -> 231980 bytes ...da_tesla_wake_can_ignition_only.bin.signed | Bin 231952 -> 231952 bytes prebuilt.json | 2 +- 36 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index cc077886dbb83d883d8d8a37e70821e4c795a783..68c5e5f11118d7868fa3c4bbae20a545dc85acaa 100644 GIT binary patch delta 3311 zcmYjR4OA0X7M}Z(zyL*vkQzh|2@wG~2ozDNARrQqs4PVkYAvEtMP5vFm(p~Q0Tn52QPEO}s4KPjQ>%!&C8<9%NkH~RJbOClyt(gv_j}*H@6LU5 z?&`R6SI2$5CIM$9tStC8kJ39(SuvmHWySan>LVrUU21BwYOyLV#3jHbX?l`}NPm5# z@rAhHrOtifG_`x2!;cOZRO^CPj`FReay>ZEdJxIm#M4Uz>#zxJ)70`<3q#(fTK6Bp zTQ#XIXr*(kVydIA*#HjXZ-R%FvP7`*b6jvySfUbzdw8oKuk08Er`AXMLdrw(+WBmN zQc08()r1)K`vBF}Y)wsm8Y-rT=ZI;!9VqsY`8hHshqK$3OcO&oTc1=chG{rx#a8

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