Sync: commaai/opendbc:master into sunnypilot/opendbc:master-new

[devtekve]

No description provided.

[sourcery-ai]

Reviewer's Guide by Sourcery

The pull request synchronizes changes from commaai/opendbc:master into sunnypilot/opendbc:master-new, focusing on safety checks, CAN message handling, and platform-specific configurations. Key changes include updates to safety checks, CAN message handling, and platform-specific configurations, particularly for Ford, Rivian, and Hyundai vehicles.

Sequence diagram for Rivian ACC cancel

sequenceDiagram
    participant User
    participant CarController
    participant VDM_AdasSts

    User->>CarController: Cancels ACC
    activate CarController
    CarController->>VDM_AdasSts: Sets VDM_AdasInterfaceStatus to 1 (available) for 5 frames, then 0 (unavailable)
    activate VDM_AdasSts
    VDM_AdasSts-->>CarController: Sends VDM_AdasSts message
    deactivate VDM_AdasSts
    loop for 5 frames
    CarController->>VDM_AdasSts: Sets VDM_AdasInterfaceStatus to 0
    activate VDM_AdasSts
    VDM_AdasSts-->>CarController: Sends VDM_AdasSts message
    deactivate VDM_AdasSts
    end
    deactivate CarController

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Sequence diagram for Ford curvature limits

sequenceDiagram
    participant CarController
    participant EPS

    CarController->>CarController: Calculates desired curvature
    CarController->>CarController: Applies rate limits and curvature error limits
    CarController->>CarController: Checks if CANFD flag is set
    alt CANFD flag is set
        CarController->>CarController: Limits curvature based on max lateral acceleration
    end
    CarController->>EPS: Sends steering command with limited curvature
    EPS-->>CarController: Acknowledges steering command

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Updated class diagram for AngleSteeringLimits

classDiagram
    class AngleSteeringLimits {
        float STEER_ANGLE_MAX
        tuple[list[float], list[float]] ANGLE_RATE_LIMIT_UP
        tuple[list[float], list[float]] ANGLE_RATE_LIMIT_DOWN
    }

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Updated class diagram for RivianPlatformConfig

classDiagram
    class RivianPlatformConfig {
        DbcDict dbc_dict
        set[WMI] wmis
        set[ModelLine] lines
        set[ModelYear] years
    }

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Updated class diagram for Vin

classDiagram
    class Vin {
        str vin
        str wmi
        str vds
        str vis
    }

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File-Level Changes

Change	Details	Files
Enhancements to safety checks and CAN message handling.	Updated safety checks to include new parameters for checksum and counter handling. Refactored CAN message handling to improve safety and reliability. Introduced new safety configurations for Ford, Rivian, and Hyundai platforms.	opendbc/safety/safety/safety_ford.h opendbc/safety/safety/safety_rivian.h opendbc/safety/safety/safety_hyundai_canfd.h opendbc/safety/safety/safety.h
Refactoring and improvements in platform-specific configurations.	Refactored Ford platform configurations to support CAN FD. Updated Rivian platform configurations with new VIN handling and fuzzy matching. Enhanced Hyundai platform configurations with new fingerprinting and safety checks.	opendbc/car/ford/values.py opendbc/car/rivian/values.py opendbc/car/hyundai/values.py
Improvements in testing and coverage for safety and platform-specific features.	Added new tests for Ford and Rivian safety features. Improved test coverage for Hyundai CAN FD safety checks. Refactored existing tests to align with new safety configurations.	opendbc/safety/tests/test_ford.py opendbc/safety/tests/test_rivian.py opendbc/safety/tests/test_hyundai_canfd.py
General code maintenance and cleanup.	Removed deprecated code and updated comments for clarity. Refactored code for better readability and maintainability. Updated documentation to reflect recent changes.	opendbc/car/docs.py opendbc/car/car_helpers.py opendbc/car/docs_definitions.py

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