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commaai · Oct 18, 2024 · c49c554 · c49c554
1 parent e2c076c
commit c49c554
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Showing 2 changed files with 29 additions and 26 deletions.
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -54,6 +54,8 @@ jobs:
         run: ${{ env.RUN }} "scons -j4 --ubsan"
       - name: Build jungle firmware with FINAL_PROVISIONING support
         run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle"
+      - name: Build panda in release mode
+        run: ${{ env.RUN }} "CERT=certs/debug RELEASE=1 scons -j4"
 
   unit_tests:
     name: unit tests

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -211,18 +211,6 @@ static safety_config chrysler_init(uint16_t param) {
     .CRUISE_BUTTONS   = 0xB1,   // Cruise control buttons
   };
 
-  // CAN messages for the 5th gen RAM HD platform
-  static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
-    .EPS_2            = 0x220,  // EPS driver input torque
-    .ESP_1            = 0x140,  // Brake pedal and vehicle speed
-    .ESP_8            = 0x11C,  // Brake pedal and vehicle speed
-    .ECM_5            = 0x22F,  // Throttle position sensor
-    .DAS_3            = 0x1F4,  // ACC engagement states from DASM
-    .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
-    .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
-    .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
-  };
-
   static RxCheck chrysler_ram_dt_rx_checks[] = {
     {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
@@ -240,14 +228,6 @@ static safety_config chrysler_init(uint16_t param) {
     {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
-  static RxCheck chrysler_ram_hd_rx_checks[] = {
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-    {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
-  };
-
   static const CanMsg CHRYSLER_TX_MSGS[] = {
     {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3},
     {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6},
@@ -260,12 +240,6 @@ static safety_config chrysler_init(uint16_t param) {
     {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
   };
 
-  static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
-    {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
-    {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
-    {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
-  };
-
   safety_config ret;
 
   bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);
@@ -281,6 +255,33 @@ static safety_config chrysler_init(uint16_t param) {
     ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
 #ifdef ALLOW_DEBUG
   } else if (enable_ram_hd) {
+
+    // CAN messages for the 5th gen RAM HD platform
+    static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
+      .EPS_2            = 0x220,  // EPS driver input torque
+      .ESP_1            = 0x140,  // Brake pedal and vehicle speed
+      .ESP_8            = 0x11C,  // Brake pedal and vehicle speed
+      .ECM_5            = 0x22F,  // Throttle position sensor
+      .DAS_3            = 0x1F4,  // ACC engagement states from DASM
+      .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
+      .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
+      .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
+    };
+
+    static RxCheck chrysler_ram_hd_rx_checks[] = {
+      {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}},
+      {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+      {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+      {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+      {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}},
+    };
+
+    static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
+      {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
+      {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
+      {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
+    };
+
     chrysler_platform = CHRYSLER_RAM_HD;
     chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS;
     ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);