Cruise state on lexus and toyota are both in 0:1D2 @ 0x20, so we can mergee lexus specific safety check with toyota.

opendbc/lexus_ish_2017_pt_generated.dbc

@@ -56,7 +56,7 @@ BO_ 180 SPEED: 8 XXX
 
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ CRUISE_STATE : 15|3@0+ (1,0) [0|0] "" DS1
+ SG_ CRUISE_STATE : 5|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX

panda/board/safety.h

@@ -102,7 +102,6 @@ typedef struct {
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
-#define SAFETY_LEXUS_ISH 9
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -118,7 +117,6 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
-  {SAFETY_LEXUS_ISH, &lexus_ish_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_TESLA, &tesla_hooks},

panda/board/safety/safety_toyota.h

@@ -30,7 +30,6 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
-int is_lexus_ish = 0;                   // is a lexus is hybrid model?
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
@@ -50,8 +49,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == 0x1D2) {
-    // toyota: 4 bits: 55-52
-    int cruise_engaged = is_lexus_ish == 1? to_push->RDLR & 0x2000 : to_push->RDHR & 0xF00000;
+    // 6th bit
+    int cruise_engaged = to_push->RDLR & 0x20;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     } else if (!cruise_engaged) {
@@ -152,15 +151,6 @@ static void toyota_init(int16_t param) {
   toyota_actuation_limits = 1;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ish = 0;
-}
-
-static void lexus_ish_init(int16_t param) {
-  controls_allowed = 0;
-  toyota_actuation_limits = 1;
-  toyota_giraffe_switch_1 = 0;
-  toyota_dbc_eps_torque_factor = param;
-  is_lexus_ish = 1;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -188,7 +178,6 @@ static void toyota_nolimits_init(int16_t param) {
   toyota_actuation_limits = 0;
   toyota_giraffe_switch_1 = 0;
   toyota_dbc_eps_torque_factor = param;
-  is_lexus_ish = 0;
 }
 
 const safety_hooks toyota_nolimits_hooks = {
@@ -198,13 +187,4 @@ const safety_hooks toyota_nolimits_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = toyota_fwd_hook,
-};
-
-const safety_hooks lexus_ish_hooks = {
-  .init = lexus_ish_init,
-  .rx = toyota_rx_hook,
-  .tx = toyota_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
-  .fwd = toyota_fwd_hook,
-};
+};

panda/python/__init__.py

@@ -106,7 +106,6 @@ class Panda(object):
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
   SAFETY_HONDA_BOSCH = 4
-  SAFETY_LEXUS_ISH = 9
   SAFETY_TOYOTA_NOLIMITS = 0x1336
   SAFETY_ALLOUTPUT = 0x1337
   SAFETY_ELM327 = 0xE327

selfdrive/boardd/boardd.cc

@@ -41,7 +41,6 @@
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
-#define SAFETY_LEXUS_ISH 9
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -121,9 +120,6 @@ void *safety_setter_thread(void *s) {
   case (int)cereal::CarParams::SafetyModels::HYUNDAI:
     safety_setting = SAFETY_HYUNDAI;
     break;
-  case (int)cereal::CarParams::SafetyModels::LEXUS_ISH:
-    safety_setting = SAFETY_LEXUS_ISH;
-    break;
   default:
     LOGE("unknown safety model: %d", safety_model);
   }
@@ -693,4 +689,4 @@ int main() {
 
   libusb_close(dev_handle);
   libusb_exit(ctx);
-}
+}

selfdrive/car/toyota/interface.py

@@ -54,10 +54,7 @@ class CarInterface(object):
     ret.carName = "toyota"
     ret.carFingerprint = candidate
 
-    if candidate == CAR.LEXUS_ISH:
-      ret.safetyModel = car.CarParams.SafetyModels.lexusIsh
-    else:
-      ret.safetyModel = car.CarParams.SafetyModels.toyota
+    ret.safetyModel = car.CarParams.SafetyModels.toyota
 
     # pedal
     ret.enableCruise = True