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This commit is contained in:
Rick Lan
2018-08-31 00:04:46 +10:00
parent 5c041d3b78
commit bdc16ce545
2 changed files with 5 additions and 4 deletions
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panda/board/safety/safety_toyota.h
+4 -3
View File
@@ -30,8 +30,8 @@ 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
uint32_t acc_addr = 0;
int is_lexus_ave30 = 0;
uint32_t acc_addr = 0; // acc state address
int is_lexus_ave30 = 0; // is a lexus is300h/ave30 model?
static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// get eps motor torque (0.66 factor in dbc)
@@ -51,7 +51,8 @@ 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) == acc_addr) {
// 4 bits: 55-52
// lexus ave30 1 bit: 11
// toyota: 4 bits: 55-52
int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x400 : to_push->RDHR & 0xF00000;
if (cruise_engaged && !toyota_cruise_engaged_last) {
controls_allowed = 1;
selfdrive/car/toyota/interface.py
+1 -1
View File
@@ -153,7 +153,7 @@ class CarInterface(object):
elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
elif candidate == CAR.LEXUS_AVE30:
ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 AVE30R does not have stop and g
ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for