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Toyota: use DBC for alt brake safety param (#27686)

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* use DBC

* use DBC
old-commit-hash: b61a0b785af911d12816d405edc8e904416a6271
This commit is contained in:
Shane Smiskol
2023-03-24 20:07:11 -07:00
committed by GitHub
parent 06f7bb7bbc
commit 534801a39c
1 changed files with 3 additions and 2 deletions
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selfdrive/car/toyota/interface.py
+3 -2
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@@ -2,7 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -21,7 +21,8 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
# BRAKE_MODULE is on a different address for these cars
if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
if candidate in ANGLE_CONTROL_CAR: