From afd2b9f6d914aab52d3136ecf0507112ffa6df32 Mon Sep 17 00:00:00 2001
From: ErichMoraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Mon, 15 Jul 2019 11:55:51 -0500
Subject: [PATCH 1/2] Added 2019 Toyota Highlander (#739)
Tested latest commit on ICE version, and it worked flawlessly out of box. Fantastic experience.
---
README.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/README.md b/README.md
index 7a4825846..dfbb76803 100644
--- a/README.md
+++ b/README.md
@@ -101,7 +101,7 @@ Supported Cars
| Toyota | Corolla 2017-19 | All | Yes | Yes2| 20mph1| 0mph | Toyota |
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
-| Toyota | Highlander 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota |
+| Toyota | Highlander 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota |
From 4419fdc0dfc2e88172ef8aff03283eea3f505676 Mon Sep 17 00:00:00 2001
From: rbiasini
Date: Sat, 20 Jul 2019 23:21:50 -0700
Subject: [PATCH 2/2] Use standard steer angle sensor in DSU-less pre-TSS2
Toyota. (#751)
---
selfdrive/car/toyota/carstate.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index d964f8c43..ee7c61d94 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -3,7 +3,7 @@ from common.kalman.simple_kalman import KF1D
from selfdrive.can.parser import CANParser
from selfdrive.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_DSU_CAR
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR
def parse_gear_shifter(gear, vals):
@@ -59,7 +59,7 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
- if CP.carFingerprint in NO_DSU_CAR:
+ if CP.carFingerprint in TSS2_CAR:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
else:
signals += [("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0)]
@@ -141,7 +141,7 @@ class CarState(object):
self.a_ego = float(v_ego_x[1])
self.standstill = not v_wheel > 0.001
- if self.CP.carFingerprint in NO_DSU_CAR:
+ if self.CP.carFingerprint in TSS2_CAR:
self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
else:
self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']