mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-27 17:42:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Toyota TSS2: parse distance button (#31722)

Browse Source 
* Enable the distance button to switch personalities for Toyota/Lexus

* Default to the "standard" personality for now

* only parsing first

* only parse

* no personality in card

* safe

* comment

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: a2de0115b3cc46521f395953d97a94cd846c5f9d
This commit is contained in:
James
2024-03-06 02:06:06 -07:00
committed by GitHub
parent 4fb29ed3ac
commit 79e15ddbc1
2 changed files with 13 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/toyota/carstate.py
+8
View File
@@ -40,6 +40,9 @@ class CarState(CarStateBase):
self.accurate_steer_angle_seen = False
self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
self.prev_distance_button = 0
self.distance_button = 0
self.low_speed_lockout = False
self.acc_type = 1
self.lkas_hud = {}
@@ -163,6 +166,11 @@ class CarState(CarStateBase):
if self.CP.carFingerprint != CAR.PRIUS_V:
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
# distance button is wired to the ACC module (camera or radar)
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
self.prev_distance_button = self.distance_button
self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
return ret
@staticmethod
selfdrive/car/toyota/interface.py
+5 -1
View File
@@ -3,10 +3,11 @@ from panda import Panda
from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
SteerControlType = car.CarParams.SteerControlType
@@ -172,6 +173,9 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret)