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Toyota: fix DSU detection on no DSU cars (#20120)

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* Toyota: fix DSU detection on no DSU cars

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old-commit-hash: a0a5abc7ad
This commit is contained in:
Adeeb Shihadeh
2021-02-19 22:12:31 -08:00
committed by GitHub
parent 6171b72948
commit 65bc78ee14
1 changed files with 3 additions and 2 deletions
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selfdrive/car/toyota/interface.py
+3 -2
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@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS, CarControllerParams
from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, NO_DSU_CAR, FINGERPRINTS, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.swaglog import cloudlog
from selfdrive.car.interfaces import CarInterfaceBase
@@ -313,8 +313,9 @@ class CarInterface(CarInterfaceBase):
ret.enableCamera = True
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# TODO: use FW query for the enableDsu flag
# In TSS2 cars the camera does long control
ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in NO_DSU_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)