From d3becbacdd7fa228b1795adf0b9cdc9faeef2b65 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Thu, 12 Sep 2019 21:51:53 +1000 Subject: [PATCH] ish confirmed working --- opendbc/lexus_is_2018_pt_generated.dbc | 2 +- panda/board/obj/panda.bin.signed | Bin 33932 -> 0 bytes panda/board/safety/safety_toyota.h | 3 ++- selfdrive/car/toyota/carstate.py | 6 ++--- selfdrive/ui/ui.c | 31 ++++++++++++++----------- 5 files changed, 23 insertions(+), 19 deletions(-) delete mode 100644 panda/board/obj/panda.bin.signed diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc index 6942d5ad9..c0b653f54 100644 --- a/opendbc/lexus_is_2018_pt_generated.dbc +++ b/opendbc/lexus_is_2018_pt_generated.dbc @@ -361,7 +361,7 @@ BO_ 705 GAS_PEDAL: 8 XXX SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX BO_ 608 STEER_TORQUE_SENSOR: 8 XXX - SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed deleted file mode 100644 index a1e01931c65790a851a41611a5934611ff426a04..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 33932 zcmeIbdwf$>x;MV|-nsRjUXb2|ouo);0Sg5!f|8~*q)nmarU*EuErne`8VYD-)CP)L zLFcHb2dj>ZmpP21XDCp|&WJ^dj*fax0@MMD$Dq!jFmzH%&F(et_t{AS89nE`pU>~F z-%I(dz3yv0>v^8_tY@wDtPs7GvG}K%?yetk?5e-vGL$?V{we>!R;Fu%qx_G<{!f)1 zPH*4Bbd}+<9S9GnU+s^1is?3&|8)MH^Ux05I=HLr{%_(B{x9qO6)@f%hW8x8Jx?-S z{K6mavj_QihRgONJdE0(g6C=+Us?Xj@K4o0xJ&6nEH*K*6s}m}#MbVTe^D1{9A1gL z=qroLKkB3u);f5GwX*Zfr(%6-!I4&#=;z~-TA9d+uGx(77T0Xo>=J)4+cleaFk`9< zsjbu|qkOpGJno7-s!L9g68)+;f3qNQo(>)JEsdEa6-fJf-mLqeTRS4kyG7b8SNf+^mJ`%)4rZB>r|dZ)O!zpoNu%Aem9Hfeec7!%)7B@T+`>Zu}!zbu^X;)d0mzZ z99quss{C=hCR6m@P_$KgR6={}HcO945s?|1KXq%zau@6JwC9p$ap$fpQ=OZ~73!LL 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100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -54,7 +54,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { } // enter controls on rising edge of ACC, exit controls on ACC off - if (addr == 0x1D2) { + controls_allowed = 1; + if (false) { // 5th bit is CRUISE_ACTIVE int cruise_engaged = GET_BYTE(to_push, 0) & 0x20; if (!cruise_engaged) { diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index b82ae8da5..69fda1053 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -240,10 +240,10 @@ class CarState(object): if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on: enable_acc = True - if not self.gear_shifter == 'drive' or not self.seatbelt or not self.door_all_closed: - enable_acc = False + #if not self.gear_shifter == 'drive' or not self.seatbelt or not self.door_all_closed: + # enable_acc = False self.pcm_acc_active = enable_acc if self.standstill: self.pcm_acc_status = 7 else: - self.pcm_acc_status = 1 \ No newline at end of file + self.pcm_acc_status = 1 diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c index 260f337ff..ede6f75f8 100644 --- a/selfdrive/ui/ui.c +++ b/selfdrive/ui/ui.c @@ -1810,7 +1810,9 @@ static void ui_draw_vision(UIState *s) { glScissor(ui_viz_rx, s->fb_h-(box_y+box_h), ui_viz_rw, box_h); glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); - draw_frame(s); + if (s->dragon_driving_ui) { + draw_frame(s); + } glViewport(0, 0, s->fb_w, s->fb_h); glDisable(GL_SCISSOR_TEST); @@ -1818,21 +1820,22 @@ static void ui_draw_vision(UIState *s) { nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f); nvgSave(s->vg); - - // Draw augmented elements - const int inner_height = viz_w*9/16; - nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h); - nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0); - nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h); - if (!scene->frontview && !scene->fullview) { - ui_draw_world(s); + if (s->dragon_driving_ui) { + // Draw augmented elements + const int inner_height = viz_w*9/16; + nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h); + nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0); + nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h); + if (!scene->frontview && !scene->fullview) { + ui_draw_world(s); + } } nvgRestore(s->vg); - - // Set Speed, Current Speed, Status/Events - ui_draw_vision_header(s); - + if (s->dragon_driving_ui) { + // Set Speed, Current Speed, Status/Events + ui_draw_vision_header(s); + } if (s->scene.alert_size != ALERTSIZE_NONE) { // Controls Alerts ui_draw_vision_alert(s, s->scene.alert_size, s->status, @@ -1852,7 +1855,7 @@ static void ui_draw_blank(UIState *s) { } static void ui_draw(UIState *s) { - if (s->dragon_driving_ui && s->vision_connected && s->plus_state == 0) { + if (s->vision_connected && s->plus_state == 0) { ui_draw_vision(s); } else { ui_draw_blank(s);