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Toyota: Display Blue Barriers When Engaged, Matches OEM Design (#23150)

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This commit is contained in:
Kevin Robert Keegan
2021-12-14 16:42:31 -08:00
committed by GitHub
parent cd190dc85d
commit 245b4d910c
2 changed files with 3 additions and 3 deletions
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selfdrive/car/toyota/carcontroller.py
+1 -1
View File
@@ -120,7 +120,7 @@ class CarController():
send_ui = True
if (frame % 100 == 0 or send_ui):
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, enabled))
if frame % 100 == 0 and CS.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
selfdrive/car/toyota/toyotacan.py
+2 -2
View File
@@ -67,11 +67,11 @@ def create_fcw_command(packer, fcw):
return packer.make_can_msg("ACC_HUD", 0, values)
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart):
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
values = {
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
"BARRIERS" : 3 if left_lane_depart else 2 if right_lane_depart else 0,
"BARRIERS" : 1 if enabled else 0,
"SET_ME_X0C": 0x0c,
"SET_ME_X2C": 0x2c,
"SET_ME_X38": 0x38,