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Toyota Long Filter - 2025/05/27

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This commit is contained in:
Rick Lan
2025-05-27 11:55:32 +08:00
parent 87972fb990
commit e8caa20aee
2 changed files with 21 additions and 1 deletions
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opendbc_repo/opendbc/car/toyota/values.py
+1
View File
@@ -55,6 +55,7 @@ class ToyotaSafetyFlags(IntFlag):
STOCK_LONGITUDINAL = (2 << 8)
LTA = (4 << 8)
SECOC = (8 << 8)
LONG_FILTER = (16 << 8)
class ToyotaFlags(IntFlag):
opendbc_repo/opendbc/safety/safety/safety_toyota.h
+20 -1
View File
@@ -24,6 +24,14 @@
{0x750, 0, 8, false}, /* radar diagnostic address */ \
{0x343, 0, 8, true}, /* ACC */ \
#define TOYOTA_COMMON_LONG_TX_MSGS_FILTER \
TOYOTA_COMMON_TX_MSGS \
{0x283, 0, 7, false}, {0x2E6, 0, 8, false}, {0x2E7, 0, 8, false}, {0x33E, 0, 7, false}, {0x344, 0, 8, false}, {0x365, 0, 7, false}, {0x366, 0, 7, false}, {0x4CB, 0, 8, false}, /* DSU bus 0 */ \
{0x128, 1, 6, false}, {0x141, 1, 4, false}, {0x160, 1, 8, false}, {0x161, 1, 7, false}, {0x470, 1, 4, false}, /* DSU bus 1 */ \
{0x411, 0, 8, false}, /* PCS_HUD */ \
{0x750, 0, 8, false}, /* radar diagnostic address */ \
{0x343, 0, 8, false}, /* ACC */ \
#define TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{ 0xaa, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 83U}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, .ignore_counter = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
@@ -49,6 +57,7 @@ static bool toyota_alt_brake = false;
static bool toyota_stock_longitudinal = false;
static bool toyota_lta = false;
static int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
static bool toyota_long_filter = false;
static uint32_t toyota_compute_checksum(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
@@ -339,6 +348,10 @@ static safety_config toyota_init(uint16_t param) {
TOYOTA_COMMON_LONG_TX_MSGS
};
static const CanMsg TOYOTA_LONG_TX_MSGS_FILTER[] = {
TOYOTA_COMMON_LONG_TX_MSGS_FILTER
};
// safety param flags
// first byte is for EPS factor, second is for flags
const uint32_t TOYOTA_PARAM_OFFSET = 8U;
@@ -346,6 +359,7 @@ static safety_config toyota_init(uint16_t param) {
const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
const uint32_t TOYOTA_PARAM_LONG_FILTER = 16U << TOYOTA_PARAM_OFFSET;
#ifdef ALLOW_DEBUG
const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
@@ -356,6 +370,7 @@ static safety_config toyota_init(uint16_t param) {
toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
toyota_long_filter = GET_FLAG(param, TOYOTA_PARAM_LONG_FILTER);
safety_config ret;
if (toyota_stock_longitudinal) {
@@ -365,7 +380,11 @@ static safety_config toyota_init(uint16_t param) {
SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
}
} else {
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
if (toyota_long_filter) {
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS_FILTER, ret);
} else {
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
}
}
if (toyota_secoc) {