Toyota: support openpilot long with a smartDSU on nodsu models (#27417)

* init

* fix syntax

* add test route

* syntax

* cleanup

* bool

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 133721aafc0f8220a993a14fcade6ee8fc05c747

selfdrive/car/tests/routes.py

@@ -185,6 +185,7 @@ routes = [
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),

selfdrive/car/toyota/carstate.py

@@ -115,7 +115,8 @@ class CarState(CarStateBase):
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
     if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
-      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
+        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@@ -235,12 +236,17 @@ class CarState(CarStateBase):
       checks.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR:
+      if not CP.flags & ToyotaFlags.SMART_DSU.value:
+        signals += [
+          ("ACC_TYPE", "ACC_CONTROL"),
+        ]
+        checks += [
+          ("ACC_CONTROL", 33),
+        ]
       signals += [
-        ("ACC_TYPE", "ACC_CONTROL"),
         ("FCW", "ACC_HUD"),
       ]
       checks += [
-        ("ACC_CONTROL", 33),
         ("ACC_HUD", 1),
       ]
 

selfdrive/car/toyota/interface.py

@@ -201,14 +201,18 @@ class CarInterface(CarInterfaceBase):
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
-    smartDsu = 0x2FF in fingerprint[0]
-    # In TSS2 cars the camera does long control
+
+    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
+    if 0x2FF in fingerprint[0]:
+      ret.flags |= ToyotaFlags.SMART_DSU.value
+
+    # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
+
     # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
-    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+    ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:

selfdrive/car/toyota/values.py

@@ -33,6 +33,7 @@ class CarControllerParams:
 
 class ToyotaFlags(IntFlag):
   HYBRID = 1
+  SMART_DSU = 2
 
 
 class CAR: