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Reverse cruise increase for Toyota/Lexus

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 2e9c26316e
commit 7ca4a582d5
2 changed files with 4 additions and 4 deletions
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opendbc_repo/opendbc/car/toyota/carcontroller.py
+2 -2
View File
@@ -279,7 +279,7 @@ class CarController(CarControllerBase):
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
CS.acc_type, fcw_alert, self.distance_button))
CS.acc_type, fcw_alert, self.distance_button, frogpilot_toggles.reverse_cruise_increase))
if self.CP.flags & ToyotaFlags.SECOC.value:
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
acc_cmd_2 = add_mac(self.secoc_key,
@@ -298,7 +298,7 @@ class CarController(CarControllerBase):
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button, frogpilot_toggles.reverse_cruise_increase))
# *** hud ui ***
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
opendbc_repo/opendbc/car/toyota/toyotacan.py
+2 -2
View File
@@ -40,7 +40,7 @@ def create_lta_steer_command_2(packer, frame):
return packer.make_can_msg("STEERING_LTA_2", 0, values)
def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance):
def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance, reverse_cruise_active):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
@@ -50,7 +50,7 @@ def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_r
"PERMIT_BRAKING": permit_braking,
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
"ALLOW_LONG_PRESS": 2 if reverse_cruise_active else 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
}
return packer.make_can_msg("ACC_CONTROL", 0, values)