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Toyota: log ACC faults (#26682)

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* add acc faulted

* use faster signal

* bump

* we know PCM_CRUISE_SM is not what we want
This commit is contained in:
Shane Smiskol
2022-12-03 03:02:57 -08:00
committed by GitHub
parent d3a66015ad
commit 5b10deba2e
1 changed files with 3 additions and 0 deletions
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selfdrive/car/toyota/carstate.py
+3
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@@ -93,10 +93,12 @@ class CarState(CarStateBase):
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
# TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
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"]
else:
ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
@@ -205,6 +207,7 @@ class CarState(CarStateBase):
else:
signals.append(("MAIN_ON", "PCM_CRUISE_2"))
signals.append(("SET_SPEED", "PCM_CRUISE_2"))
signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
checks.append(("PCM_CRUISE_2", 33))