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Toyota: add unsupported DSU car list (#26336)

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* note for dsu cars

* don't hardcode dsu footnote (1/2)

* test

* revert the experimental long toggle

* another day:(

* DSU doesn't have to be toyota specific, it's a generic carParam!

* this is safe, just make sure it's unknown

* these cars do not have OP long for some reason

* UNSUPPORTED_DSU_CAR

* forgot this

* .

* .

* revert

* revert

* smaller diff
old-commit-hash: b0656f2c751df64fb3974c66423470b7a59bc1e6
This commit is contained in:
Shane Smiskol
2022-11-02 20:12:35 -07:00
committed by GitHub
parent 5f9bab5ae6
commit 94433bb818
4 changed files with 13 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/toyota/carcontroller.py
+3 -2
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@@ -5,7 +5,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \
UNSUPPORTED_DSU_CAR
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -112,7 +113,7 @@ class CarController:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
selfdrive/car/toyota/carstate.py
+4 -4
View File
@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
class CarState(CarStateBase):
@@ -87,7 +87,7 @@ class CarState(CarStateBase):
# 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
@@ -112,7 +112,7 @@ class CarState(CarStateBase):
# these cars are identified by an ACC_TYPE value of 2.
# TODO: it is possible to avoid the lockout and gain stop and go if you
# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \
(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
@@ -196,7 +196,7 @@ class CarState(CarStateBase):
signals.append(("GAS_PEDAL", "GAS_PEDAL"))
checks.append(("GAS_PEDAL", 33))
if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
signals.append(("MAIN_ON", "DSU_CRUISE"))
signals.append(("SET_SPEED", "DSU_CRUISE"))
signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))
selfdrive/car/toyota/interface.py
+2 -2
View File
@@ -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, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -189,7 +189,7 @@ class CarInterface(CarInterfaceBase):
smartDsu = 0x2FF in fingerprint[0]
# 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) 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 smartDsu
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)
selfdrive/car/toyota/values.py
+4 -1
View File
@@ -1363,7 +1363,7 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x700, None): [
b'\x01896634AA0000\x00\x00\x00\x00',
b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA1000\x00\x00\x00\x00',
b'\x01896634A88000\x00\x00\x00\x00',
b'\x01896634A89000\x00\x00\x00\x00',
@@ -2032,6 +2032,9 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TS
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
# the DSU uses the AEB message for longitudinal on these cars
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}