PIKA

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -245,6 +245,11 @@ class CarState(CarStateBase):
 
         buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
+    if self.CP.carFingerprint in LEGACY_PRIUS_CAR and not self.has_SDSU:
+      prev_distance_button = self.distance_button
+      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     if self.CP.carFingerprint in DISTANCE_BUTTON_CAR:
       prev_distance_button = self.distance_button
       self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
@@ -294,14 +299,20 @@ class CarState(CarStateBase):
     pt_messages = [
       ("BLINKERS_STATE", float('nan')),
     ]
+    cam_messages = []
 
     if CP.enableGasInterceptorDEPRECATED:
       pt_messages.append(("GAS_SENSOR", 50))
 
+    if CP.carFingerprint in LEGACY_PRIUS_CAR:
+      pt_messages.append(("ACC_CONTROL", float('nan')))
+      if CP.flags & ToyotaFlags.DSU_BYPASS.value:
+        cam_messages.append(("ACC_CONTROL", float('nan')))
+
     if CP.carFingerprint in DISTANCE_BUTTON_CAR:
       pt_messages.append(("PCM_CRUISE_4", 1))
 
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
     }

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -1043,6 +1043,36 @@ class TestToyotaCarController:
 
 
 class TestToyotaCarState:
+  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT])
+  def test_legacy_prius_distance_button_generates_events(self, candidate):
+    params = CarInterface.get_params(
+      candidate,
+      {bus: {} for bus in range(8)},
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+    starpilot_params = CarInterface.get_starpilot_params(candidate, {bus: {} for bus in range(8)}, [], params, SimpleNamespace())
+    car_state = CarState(params, starpilot_params)
+    can_parsers = car_state.get_can_parsers(params)
+
+    assert "ACC_CONTROL" in can_parsers[Bus.pt].vl
+    assert ("ACC_CONTROL" in can_parsers[Bus.cam].vl) == bool(params.flags & ToyotaFlags.DSU_BYPASS.value)
+
+    can_parsers[Bus.pt].vl["ACC_CONTROL"]["DISTANCE"] = 1
+    ret, _ = car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == [
+      (structs.CarState.ButtonEvent.Type.gapAdjustCruise, True),
+    ]
+
+    can_parsers[Bus.pt].vl["ACC_CONTROL"]["DISTANCE"] = 0
+    ret, _ = car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == [
+      (structs.CarState.ButtonEvent.Type.gapAdjustCruise, False),
+    ]
+
   def test_lkas_button_platforms(self):
     assert CAR.TOYOTA_PRIUS in LKAS_BUTTON_CAR
     assert TSS2_CAR <= LKAS_BUTTON_CAR

opendbc_repo/opendbc/safety/modes/volvo.h

@@ -42,6 +42,7 @@
 // Keep the absolute envelope aligned with the software controller's 540 deg limit.
 #define VOLVO_ANGLE_DEG_TO_CAN 17.869907f
 #define VOLVO_MAX_ANGLE_CAN 9650
+#define VOLVO_RELAY_ANGLE_TOLERANCE 54  // approximately 3 degrees
 #define VOLVO_DRIVER_OVERRIDE 2
 
 
@@ -186,8 +187,10 @@ static bool volvo_tx_hook(const CANPacket_t *msg) {
   // path. Do not allow that relay to invent a steering-angle measurement.
   if (msg->addr == VOLVO_PSCM) {
     const int relayed_angle = volvo_pscm_angle(msg);
-    const int measured_max = SAFETY_CLAMP(angle_meas.max, -VOLVO_MAX_ANGLE_CAN, VOLVO_MAX_ANGLE_CAN) + 1;
-    const int measured_min = SAFETY_CLAMP(angle_meas.min, -VOLVO_MAX_ANGLE_CAN, VOLVO_MAX_ANGLE_CAN) - 1;
+    const int measured_max = SAFETY_CLAMP(angle_meas.max + VOLVO_RELAY_ANGLE_TOLERANCE,
+                                          -VOLVO_MAX_ANGLE_CAN, VOLVO_MAX_ANGLE_CAN);
+    const int measured_min = SAFETY_CLAMP(angle_meas.min - VOLVO_RELAY_ANGLE_TOLERANCE,
+                                          -VOLVO_MAX_ANGLE_CAN, VOLVO_MAX_ANGLE_CAN);
     tx &= !safety_max_limit_check(relayed_angle, measured_max, measured_min);
   }
 
@@ -262,7 +265,8 @@ static safety_config volvo_init(uint16_t param) {
   volvo_ecm_1_addr = spa ? VOLVO_SPA_ECM_1 : VOLVO_CMA_ECM_1;
   volvo_bus1_cruise_control_addr = spa ? VOLVO_SPA_BUS1_CRUISE_CONTROL : VOLVO_CMA_BUS1_CRUISE_CONTROL;
 
-  // Define allowed TX messages - very permissive
+  // Define the TX messages needed to replace the stock LCA path. Payload
+  // limits for steering and the PSCM relay are enforced in volvo_tx_hook.
   static const CanMsg VOLVO_TX_MSGS[] = {
     {VOLVO_LCA_STEER, VOLVO_PARTY_BUS, 8, .check_relay = true},  // LCA steering command to party bus
     {VOLVO_PSCM, VOLVO_MAIN_BUS, 8, .check_relay = true},  // PSCM message sent to main bus (relay from party bus)

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-dc62d0e2-DEBUG";
+const uint8_t gitversion[19] = "DEV-289f5e9d-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-dc62d0e2-DEBUG
+DEV-289f5e9d-DEBUG