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Toyota: log another permanent LTA fault (#28833)

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* also 17

* common

* not acc
old-commit-hash: 048aacbd597ce73d9af9259f96699d016b1a7e98
This commit is contained in:
Shane Smiskol
2023-07-07 00:09:45 -07:00
committed by GitHub
parent 95051090a1
commit 28eae267a4
1 changed files with 5 additions and 4 deletions
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selfdrive/car/toyota/carstate.py
+5 -4
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@@ -19,6 +19,9 @@ SteerControlType = car.CarParams.SteerControlType
# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
# and is a catch-all for LKA
TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
# - lka/lta msg drop out: 3 (recoverable)
# - prolonged high driver torque: 17 (permanent)
PERM_STEER_FAULTS = (3, 17)
class CarState(CarStateBase):
@@ -101,13 +104,11 @@ class CarState(CarStateBase):
# Check EPS LKA/LTA fault status
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
# 3 is a fault from the lka command message not being received by the EPS (recoverable)
# 17 is a fault from a prolonged high torque delta between cmd and user (permanent)
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS
if self.CP.steerControlType == SteerControlType.angle:
ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in (3,)
ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
# TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH