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https://github.com/firestar5683/StarPilot.git
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firestar5683
73 lines
3.7 KiB
Python
73 lines
3.7 KiB
Python
"""Compatibility policy for recorded diagnostic configurations; native authority stays separate.
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Register divergence remains a protected-register diagnostic, not a benign-fault
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claim. Raw fault reports are retained. Every unlisted configuration/bit blocks.
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"""
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from openpilot.cereal import log
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from opendbc.car.gm.cancel_remap import aol_enabled
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def _diagnostic_mask(cp):
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try:
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if cp.brand == 'honda':
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from opendbc.car.honda.stock_aol import qualified, CLASSIC_BOSCH, RADARLESS
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if (cp.carFingerprint in CLASSIC_BOSCH and cp.openpilotLongitudinalControl) or str(cp.fingerprintSource) == 'fixed':
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return 0 # New alpha owner and explicit selection cannot borrow the recorded exception.
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from opendbc.car.honda.values import HondaFlags
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# Only the reported CAN2 interrupt-rate diagnostic is exempt. Qualification
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# requires a marked, supported, single-panda Bosch AOL configuration.
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# Other interrupt rates and mixed faults remain blocking.
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return (1 << 3) if ((cp.carFingerprint in CLASSIC_BOSCH or cp.carFingerprint in RADARLESS) and
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int(cp.flags) & int(HondaFlags.BOSCH) and qualified(cp, marked_only=True)) else 0
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if cp.brand == 'hyundai':
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from opendbc.car.hyundai.values import CAR, HyundaiFlags
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if cp.carFingerprint != CAR.HYUNDAI_SONATA_HYBRID:
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return 0
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from opendbc.car.hyundai.classic_scc_aol import qualified
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recorded_flags = (HyundaiFlags.HYBRID | HyundaiFlags.SEND_LFA | HyundaiFlags.USE_FCA |
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HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HAS_LDA_BUTTON)
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return (1 << 3) if (int(cp.flags) == int(recorded_flags) and
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len(cp.safetyConfigs) == 1 and int(cp.safetyConfigs[0].safetyParam) == 0xC02 and cp.alternativeExperience == 32 and
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qualified(cp, marked_only=True)) else 0
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from opendbc.car.gm.aol import qualified_gm
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from opendbc.car.gm.values import CAR, is_volt_sdgm_profile, is_bolt_present_no_acc_pedal_profile
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if cp.brand != 'gm' or len(cp.safetyConfigs) != 1:
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return 0
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word = int(cp.safetyConfigs[0].safetyParam)
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# Only these two exact identities can use this diagnostic classification.
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# Reject every other profile before the full GM admission walk. Current
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# faults and all existing qualification checks remain authoritative.
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if not ((cp.carFingerprint == CAR.CHEVROLET_VOLT_2019 and word == 0x1005) or
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(cp.carFingerprint == CAR.CHEVROLET_BOLT_CC_2018_2021 and word == 0x9D)):
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return 0
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if not qualified_gm(cp) or not aol_enabled(cp):
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return 0
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if (cp.carFingerprint == CAR.CHEVROLET_VOLT_2019 and word == 0x1005 and
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is_volt_sdgm_profile(cp, longitudinal=False) and cp.pcmCruise and not cp.openpilotLongitudinalControl):
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return 1 << 18
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if (cp.carFingerprint == CAR.CHEVROLET_BOLT_CC_2018_2021 and word == 0x9D and
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is_bolt_present_no_acc_pedal_profile(cp) and cp.openpilotLongitudinalControl and not cp.pcmCruise):
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return (1 << 2) | (1 << 3)
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except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
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pass
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return 0
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def blocking_fault_mask(mask, cp):
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try:
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value = int(mask)
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return value < 0 or value > 0xFFFFFFFF or bool(value & ~_diagnostic_mask(cp))
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except (TypeError, ValueError, OverflowError):
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return True
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def blocking_fault_list(faults, cp):
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try:
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allowed = _diagnostic_mask(cp)
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named = ((log.PandaState.FaultType.interruptRateCan1, 1 << 2),
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(log.PandaState.FaultType.interruptRateCan2, 1 << 3),
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(log.PandaState.FaultType.registerDivergent, 1 << 18))
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return any(not any(fault == name and allowed & bit for name, bit in named) for fault in faults)
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except (TypeError, ValueError, OverflowError):
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return True
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