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* clean up changes, rename PCM_CRUISE_LEXUS_ISH in dbc to PCM_CRUISE_2 to reduce changes required in carstate.py

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This commit is contained in:
Rick Lan
2018-10-26 10:19:49 +10:00
parent 9e067e91ee
commit fcbb07b1a0
2 changed files with 6 additions and 15 deletions
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opendbc/lexus_ish_2017_pt_generated.dbc
+1 -1
View File
@@ -172,7 +172,7 @@ BO_ 610 EPS_STATUS: 5 EPS
BO_ 956 GEAR_PACKET: 8 XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
BO_ 1009 PCM_CRUISE_LEXUS_ISH: 8 XXX
BO_ 1009 PCM_CRUISE_2: 8 XXX
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
selfdrive/car/toyota/carstate.py
+5 -14
View File
@@ -36,6 +36,8 @@ def get_can_parser(CP):
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("GAS_RELEASED", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
@@ -56,10 +58,6 @@ def get_can_parser(CP):
]
if CP.carFingerprint == CAR.LEXUS_ISH:
signals += [
("MAIN_ON", "PCM_CRUISE_LEXUS_ISH", 0),
("SET_SPEED", "PCM_CRUISE_LEXUS_ISH", 0),
]
checks = [
("BRAKE_MODULE", 50),
("GAS_PEDAL", 50),
@@ -68,12 +66,9 @@ def get_can_parser(CP):
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
("PCM_CRUISE_LEXUS_ISH", 1),
]
else:
signals += [
("MAIN_ON", "PCM_CRUISE_2", 0),
("SET_SPEED", "PCM_CRUISE_2", 0),
("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
("IPAS_STATE", "EPS_STATUS", 1),
]
@@ -144,10 +139,7 @@ class CarState(object):
self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
if self.CP.carFingerprint == CAR.LEXUS_ISH:
self.main_on = cp.vl["PCM_CRUISE_LEXUS_ISH"]['MAIN_ON']
else:
self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
@@ -167,11 +159,10 @@ class CarState(object):
self.user_brake = 0
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
if self.CP.carFingerprint == CAR.LEXUS_ISH:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_LEXUS_ISH"]['SET_SPEED']
self.low_speed_lockout = 0
self.low_speed_lockout = False
else:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
if self.CP.carFingerprint == CAR.PRIUS: