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Revert "Capnp memoryview (#2793)"

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This reverts commit 0c8676f74c.
This commit is contained in:
Shane Smiskol
2025-09-19 17:17:52 -07:00
parent 0c8676f74c
commit c70bd060c6
4 changed files with 5 additions and 5 deletions
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4
opendbc/car/chrysler/interface.py
View File

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4].tobytes() >= b"6841" for fw in car_fw)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
if new_eps_platform or new_eps_firmware:
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
@@ -59,7 +59,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4].tobytes() <= b"6831" for fw in car_fw):
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD_5TH_GEN:

2
opendbc/car/fw_versions.py
View File

@@ -42,7 +42,7 @@ def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None)
for fw in fw_versions:
if is_brand(fw.brand, filter_brand) and not fw.logging:
sub_addr = fw.subAddress if fw.subAddress != 0 else None
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion.tobytes())
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
return dict(fw_versions_dict)

2
opendbc/car/toyota/interface.py
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@@ -85,7 +85,7 @@ class CarInterface(CarInterfaceBase):
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion[:1] == b'\x02' or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV = [0.15]
ret.lateralTuning.pid.kiV = [0.05]
ret.lateralTuning.pid.kf = 0.00004

2
pyproject.toml
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@@ -14,7 +14,7 @@ dependencies = [
"numpy",
"crcmod",
"tqdm",
"pycapnp",
"pycapnp==2.1.0",
"pycryptodome",
]