dsu bypass

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -96,7 +96,8 @@ class CarState(CarStateBase):
     cp_cam = can_parsers[Bus.cam]
 
     ret = structs.CarState()
-    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
+    dsu_bypass = bool(self.CP.flags & ToyotaFlags.DSU_BYPASS.value)
+    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or dsu_bypass else cp
 
     if not self.CP.flags & ToyotaFlags.SECOC.value:
       self.gvc = cp.vl["VSC1S07"]["GVC"]
@@ -188,7 +189,7 @@ class CarState(CarStateBase):
       conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
       ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
 
-    if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if dsu_bypass or (self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
       # smartDSU can intercept ACC_CONTROL, so don't require it when it's no
       # longer forwarded on the PT bus.
       if not self.has_SDSU:

opendbc_repo/opendbc/car/toyota/interface.py

@@ -60,6 +60,12 @@ class CarInterface(CarInterfaceBase):
       # sDSU / radar filter hardware needs the Toyota safety long-filter TX set.
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.LONG_FILTER.value
 
+    # A DSU bypass adapter reroutes the stock DSU messages to the camera bus.
+    # These messages are normally absent there on pre-TSS2 platforms.
+    camera_fingerprint = fingerprint.get(2, {})
+    if not use_sdsu and candidate not in TSS2_CAR and (0x343 in camera_fingerprint or 0x4CB in camera_fingerprint):
+      ret.flags |= ToyotaFlags.DSU_BYPASS.value
+
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
 
@@ -137,6 +143,7 @@ class CarInterface(CarInterfaceBase):
     #  - TSS2 radar ACC cars (disables radar)
 
     ret.openpilotLongitudinalControl = (use_sdsu or
+                                        bool(ret.flags & ToyotaFlags.DSU_BYPASS.value) or
                                         candidate in (TSS2_CAR - RADAR_ACC_CAR) or
                                         bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value))
 

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -11,7 +11,7 @@ from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_long_tune, get_prius_positive_feedforward_scale, limit_interceptor_pcm_accel, \
                                              limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
                                              limit_prius_stopping_accel, update_permit_braking
-from opendbc.car.toyota.carstate import LKAS_BUTTON_CAR, calculate_interceptor_gas_pressed, create_lkas_button_events
+from opendbc.car.toyota.carstate import CarState, LKAS_BUTTON_CAR, calculate_interceptor_gas_pressed, create_lkas_button_events
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.interface import CarInterface
 from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SPEED_SCALE
@@ -82,6 +82,63 @@ class TestToyotaInterfaces:
     assert abs(car_params.vEgoStopping - 0.25) < 1e-6
     assert abs(car_params.vEgoStarting - 0.25) < 1e-6
 
+  @pytest.mark.parametrize("camera_message", [0x343, 0x4CB])
+  def test_dsu_bypass_enables_longitudinal(self, camera_message):
+    fingerprint = {bus: {} for bus in range(8)}
+    fingerprint[2][camera_message] = 8
+
+    car_params = CarInterface.get_params(
+      CAR.TOYOTA_COROLLA,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(),
+    )
+
+    assert car_params.flags & ToyotaFlags.DSU_BYPASS.value
+    assert car_params.openpilotLongitudinalControl
+    assert not car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
+
+    starpilot_params = CarInterface.get_starpilot_params(
+      CAR.TOYOTA_COROLLA, fingerprint, [], car_params, SimpleNamespace(),
+    )
+    car_state = CarState(car_params, starpilot_params)
+    can_parsers = car_state.get_can_parsers(car_params)
+    car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+
+    for message in ("ACC_CONTROL", "PRE_COLLISION", "PCS_HUD"):
+      assert message not in can_parsers[Bus.pt].vl
+      assert message in can_parsers[Bus.cam].vl
+
+  def test_dsu_bypass_does_not_change_tss2_or_smart_dsu(self):
+    fingerprint = {bus: {} for bus in range(8)}
+    fingerprint[0][0x2FF] = 8
+    fingerprint[2][0x343] = 8
+
+    smart_dsu_params = CarInterface.get_params(
+      CAR.TOYOTA_COROLLA,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(),
+    )
+    tss2_params = CarInterface.get_params(
+      CAR.TOYOTA_CAMRY_TSS2,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(),
+    )
+
+    assert not smart_dsu_params.flags & ToyotaFlags.DSU_BYPASS.value
+    assert not tss2_params.flags & ToyotaFlags.DSU_BYPASS.value
+
   def test_camry_hybrid_continental_radar_uses_ths_longitudinal_tune(self):
     fingerprint = {bus: ({0x2FF: 8} if bus == 0 else {}) for bus in range(8)}
     hybrid_fw = [CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")]

opendbc_repo/opendbc/car/toyota/values.py

@@ -64,6 +64,8 @@ class ToyotaFlags(IntFlag):
   # Detected flags
   HYBRID = 1
   DISABLE_RADAR = 4
+  # The DSU's ACC messages are rerouted through the camera bus by an adapter.
+  DSU_BYPASS = 8192
 
   # Static flags
   TSS2 = 8