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FrogPilot community - Toyota DSU Reroute Harness support

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Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-26 22:28:49 -07:00
parent ff19eb454d
commit 19cf926c35
3 changed files with 11 additions and 4 deletions
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8
selfdrive/car/toyota/carstate.py
View File

@ -143,9 +143,9 @@ class CarState(CarStateBase):
conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
cp_acc = cp_cam if (self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or bool(self.CP.flags & ToyotaFlags.DSU_BYPASS.value)) else cp
if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
if (self.CP.flags & ToyotaFlags.DSU_BYPASS.value) or (self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
@ -261,7 +261,7 @@ class CarState(CarStateBase):
("PCS_HUD", 1),
]
if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not (CP.flags & ToyotaFlags.DISABLE_RADAR.value or CP.flags & ToyotaFlags.DSU_BYPASS.value):
messages += [
("PRE_COLLISION", 33),
]
@ -284,7 +284,7 @@ class CarState(CarStateBase):
("LKAS_HUD", 1),
]
if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
if CP.flags & ToyotaFlags.DSU_BYPASS.value or CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
messages += [
("PRE_COLLISION", 33),
("ACC_CONTROL", 33),

6
selfdrive/car/toyota/interface.py
View File

@ -56,6 +56,11 @@ class CarInterface(CarInterfaceBase):
if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
# 0x343 should not be present on bus 2 on cars other than TSS2_CAR unless we are re-routing DSU
if (0x343 in fingerprint[2] or 0x4CB in fingerprint[2]) and candidate not in TSS2_CAR:
if not (ret.flags & ToyotaFlags.SMART_DSU.value):
ret.flags |= ToyotaFlags.DSU_BYPASS.value
# In TSS2 cars, the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
@ -136,6 +141,7 @@ class CarInterface(CarInterfaceBase):
# - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
ret.openpilotLongitudinalControl |= bool(ret.flags & ToyotaFlags.DSU_BYPASS.value)
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl

1
selfdrive/car/toyota/values.py
View File

@ -60,6 +60,7 @@ class ToyotaFlags(IntFlag):
SNG_WITHOUT_DSU = 512
# FrogPilot Toyota flags
DSU_BYPASS = 1024
ZSS = 2048
class Footnote(Enum):