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Parse Toyota BSM from either CAN bus

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Comma Device
2026-09-26 20:53:42 +08:00
parent 3a10a0c0dc
commit 9d43d4f9a8
1 changed files with 22 additions and 3 deletions
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opendbc_repo/opendbc/car/toyota/carstate.py
+22 -3
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@@ -179,8 +179,21 @@ class CarState(CarStateBase, CarStateExt):
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
bsm_pt = cp.vl["BSM"]
bsm_cam = cp_cam.vl["BSM"]
ret.leftBlindspot = any((
bsm_pt["L_ADJACENT"] == 1,
bsm_pt["L_APPROACHING"] == 1,
bsm_cam["L_ADJACENT"] == 1,
bsm_cam["L_APPROACHING"] == 1,
))
ret.rightBlindspot = any((
bsm_pt["R_ADJACENT"] == 1,
bsm_pt["R_APPROACHING"] == 1,
bsm_cam["R_ADJACENT"] == 1,
bsm_cam["R_APPROACHING"] == 1,
))
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
@@ -227,7 +240,13 @@ class CarState(CarStateBase, CarStateExt):
("RSA2", 0),
]
if CP.enableBsm:
# BSM may be present on either the powertrain or camera bus.
# Mark it optional on each bus so a missing copy does not invalidate the parser.
pt_messages.append(("BSM", float('nan')))
cam_messages.append(("BSM", float('nan')))
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [] + cam_messages, 2),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
}