Toyota: move gas pedal definitions into common DBC (#23582)

* Toyota: move gas pedal definitions into common DBC

* add rest of cars

* auto detection

* cleanup

* update refs

opendbc

@@ -1 +1 @@
-Subproject commit ed41734a34ce3d350cf13c8d920b047d73d2cb67
+Subproject commit e94bd12bd43b6d32324087dcb90f65fb819a402d

selfdrive/car/toyota/carstate.py

@@ -6,7 +6,7 @@ from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR
+from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR
 
 
 class CarState(CarStateBase):
@@ -38,7 +38,9 @@ class CarState(CarStateBase):
       ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
       ret.gasPressed = ret.gas > 15
     else:
-      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
+      # TODO: find a new, common signal
+      msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
+      ret.gas = cp.vl[msg]["GAS_PEDAL"]
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -130,7 +132,6 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
       ("GEAR", "GEAR_PACKET", 0),
       ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-      ("GAS_PEDAL", "GAS_PEDAL", 0),
       ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
       ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
       ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
@@ -163,13 +164,19 @@ class CarState(CarStateBase):
       ("ESP_CONTROL", 3),
       ("EPS_STATUS", 25),
       ("BRAKE_MODULE", 40),
-      ("GAS_PEDAL", 33),
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
+    if CP.flags & ToyotaFlags.HYBRID:
+      signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID", 0))
+      checks.append(("GAS_PEDAL_HYBRID", 33))
+    else:
+      signals.append(("GAS_PEDAL", "GAS_PEDAL", 0))
+      checks.append(("GAS_PEDAL", 33))
+
     if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       signals.append(("MAIN_ON", "DSU_CRUISE", 0))
       signals.append(("SET_SPEED", "DSU_CRUISE", 0))

selfdrive/car/toyota/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
-from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, CarControllerParams
+from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -234,6 +234,9 @@ class CarInterface(CarInterfaceBase):
     # 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 = smartDsu or ret.enableDsu or candidate in TSS2_CAR
 
+    if 0x245 in fingerprint[0]:
+      ret.flags |= ToyotaFlags.HYBRID.value
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED

selfdrive/car/toyota/values.py

@@ -1,3 +1,5 @@
+from enum import IntFlag
+
 from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.config import Conversions as CV
@@ -16,6 +18,11 @@ class CarControllerParams:
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 
+
+class ToyotaFlags(IntFlag):
+  HYBRID = 1
+
+
 class CAR:
   # Toyota
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
@@ -1679,8 +1686,8 @@ DBC = {
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
-                CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
+            CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7689a98899787bcaeafc088ac9a256172faf250a
+0c0b75ef36ef657208995a5e474ce7dcdc0fc00b