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firestar5683
2026-07-19 13:59:20 -05:00
parent 03cf613e4c
commit 8453f6b4eb
5 changed files with 53 additions and 5 deletions
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opendbc_repo/opendbc/car/toyota/interface.py
+3
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@@ -28,6 +28,9 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
if candidate == CAR.LEXUS_IS:
ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_CRUISE.value
# BRAKE_MODULE is on a different address for these cars
if DBC[candidate][Bus.pt] == "toyota_new_mc_pt_generated":
ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_BRAKE.value
opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
+2
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@@ -132,6 +132,7 @@ class TestToyotaInterfaces:
assert not car_params.flags & ToyotaFlags.DSU_BYPASS.value
assert not car_params.openpilotLongitudinalControl
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
@pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
@@ -152,6 +153,7 @@ class TestToyotaInterfaces:
assert car_params.flags & ToyotaFlags.DSU_BYPASS.value
assert car_params.openpilotLongitudinalControl
assert not car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
assert not car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
def test_dsu_bypass_does_not_change_tss2_or_smart_dsu(self):
fingerprint = {bus: {} for bus in range(8)}
opendbc_repo/opendbc/car/toyota/values.py
+1
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@@ -58,6 +58,7 @@ class ToyotaSafetyFlags(IntFlag):
SECOC = (8 << 8)
LONG_FILTER = (16 << 8)
GAS_INTERCEPTOR = (32 << 8)
ALT_CRUISE = (64 << 8)
class ToyotaFlags(IntFlag):
opendbc_repo/opendbc/safety/modes/toyota.h
+30 -3
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@@ -50,23 +50,36 @@
#define TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}}, \
/* StarPilot Variables */ \
#define TOYOTA_CRUISE_RX_CHECK \
{.msg = {{0x1D3, 0, 8, 33U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_ALT_CRUISE_RX_CHECK \
{.msg = {{0x1D3, 0, 8, 33U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x1D3, 0, 5, 33U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x365, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, \
#define TOYOTA_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \
TOYOTA_CRUISE_RX_CHECK \
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x226, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_ALT_CRUISE_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \
TOYOTA_ALT_CRUISE_RX_CHECK \
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x226, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_ALT_BRAKE_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \
TOYOTA_CRUISE_RX_CHECK \
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x224, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_SECOC_RX_CHECKS \
TOYOTA_COMMON_RX_CHECKS(false) \
TOYOTA_CRUISE_RX_CHECK \
{.msg = {{0x176, 0, 8, 32U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x116, 0, 8, 42U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x101, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
@@ -80,6 +93,7 @@ static bool toyota_stock_longitudinal = false;
static bool toyota_lta = false;
static int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
static bool toyota_long_filter = false;
static bool toyota_alt_cruise = false;
static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
int len = GET_LEN(msg);
@@ -111,7 +125,7 @@ static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
}
static void toyota_rx_all_hook(const CANPacket_t *msg) {
if ((msg->bus == 0U) && (msg->addr == 0x365U) && (GET_LEN(msg) == 7U)) {
if (toyota_alt_cruise && (msg->bus == 0U) && (msg->addr == 0x365U) && (GET_LEN(msg) == 7U)) {
acc_main_on = GET_BIT(msg, 0U); // DSU_CRUISE.MAIN_ON
}
}
@@ -441,6 +455,7 @@ static safety_config toyota_init(uint16_t param) {
const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_LONG_FILTER = 16UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_GAS_INTERCEPTOR = 32UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_ALT_CRUISE = 64UL << TOYOTA_PARAM_OFFSET;
#ifdef ALLOW_DEBUG
const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
@@ -452,6 +467,7 @@ static safety_config toyota_init(uint16_t param) {
toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
toyota_long_filter = GET_FLAG(param, TOYOTA_PARAM_LONG_FILTER);
enable_gas_interceptor = GET_FLAG(param, TOYOTA_PARAM_GAS_INTERCEPTOR);
toyota_alt_cruise = GET_FLAG(param, TOYOTA_PARAM_ALT_CRUISE);
toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
if (toyota_stock_longitudinal || toyota_secoc) {
@@ -519,8 +535,19 @@ static safety_config toyota_init(uint16_t param) {
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
static RxCheck toyota_lka_alt_cruise_rx_checks[] = {
TOYOTA_ALT_CRUISE_RX_CHECKS(false)
};
static RxCheck toyota_lka_alt_cruise_interceptor_rx_checks[] = {
TOYOTA_ALT_CRUISE_RX_CHECKS(false)
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
};
if (enable_gas_interceptor && !toyota_alt_brake) {
if (toyota_alt_cruise && enable_gas_interceptor) {
SET_RX_CHECKS(toyota_lka_alt_cruise_interceptor_rx_checks, ret);
} else if (toyota_alt_cruise) {
SET_RX_CHECKS(toyota_lka_alt_cruise_rx_checks, ret);
} else if (enable_gas_interceptor && !toyota_alt_brake) {
SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret);
} else if (enable_gas_interceptor) {
SET_RX_CHECKS(toyota_lka_alt_brake_interceptor_rx_checks, ret);
opendbc_repo/opendbc/safety/tests/test_toyota.py
+17 -2
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@@ -160,7 +160,8 @@ def test_toyota_aol_rx_check_variants():
safety = libsafety_py.libsafety
for addr, length in ((0x1D3, 8), (0x1D3, 5), (0x365, 7)):
safety.set_safety_hooks(CarParams.SafetyModel.toyota, TestToyotaSafetyBase.EPS_SCALE)
safety.set_safety_hooks(CarParams.SafetyModel.toyota,
TestToyotaSafetyBase.EPS_SCALE | ToyotaSafetyFlags.ALT_CRUISE)
safety.init_tests()
messages = (
@@ -177,7 +178,8 @@ def test_toyota_aol_rx_check_variants():
def test_toyota_dsu_cruise_main_bit():
safety = libsafety_py.libsafety
safety.set_safety_hooks(CarParams.SafetyModel.toyota, TestToyotaSafetyBase.EPS_SCALE)
safety.set_safety_hooks(CarParams.SafetyModel.toyota,
TestToyotaSafetyBase.EPS_SCALE | ToyotaSafetyFlags.ALT_CRUISE)
safety.init_tests()
safety.safety_rx_hook(libsafety_py.make_CANPacket(0x1D3, 0, bytes(5)))
@@ -193,6 +195,19 @@ def test_toyota_dsu_cruise_main_bit():
assert not safety.get_acc_main_on()
def test_toyota_standard_cruise_ignores_dsu_main():
packer = CANPackerSafety("toyota_nodsu_pt_generated")
safety = libsafety_py.libsafety
safety.set_safety_hooks(CarParams.SafetyModel.toyota, TestToyotaSafetyBase.EPS_SCALE)
safety.init_tests()
assert safety.safety_rx_hook(packer.make_can_msg_safety("PCM_CRUISE_2", 0, {"MAIN_ON": 1}))
assert safety.get_acc_main_on()
safety.safety_rx_hook(libsafety_py.make_CANPacket(0x365, 0, bytes(7)))
assert safety.get_acc_main_on()
class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
MAX_RATE_UP = 15