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Toyota: remove smartDSU support (#32777)

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ssgo
Adeeb Shihadeh 1 year ago committed by GitHub
parent 3de6ee5ee3
commit cb63f101ca
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4 changed files with 14 additions and 45 deletions
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  1. 1
      selfdrive/car/tests/routes.py
  2. 17
      selfdrive/car/toyota/carstate.py
  3. 37
      selfdrive/car/toyota/interface.py
  4. 4
      selfdrive/car/toyota/values.py

1
selfdrive/car/tests/routes.py
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@ -225,7 +225,6 @@ routes = [
CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR), # hybrid CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR), # hybrid
CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2), CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2), # openpilot longitudinal, with smartDSU
CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid
CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled
CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V), CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),

17
selfdrive/car/toyota/carstate.py
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@ -132,8 +132,7 @@ class CarState(CarStateBase):
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) else cp
if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: if 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"]
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"]) ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
# some TSS2 cars have low speed lockout permanently set, so ignore on those cars # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@ -167,13 +166,11 @@ class CarState(CarStateBase):
if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR: if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"] self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
# distance button is wired to the ACC module (camera or radar) # distance button is wired to the ACC module (camera or radar)
self.prev_distance_button = self.distance_button self.prev_distance_button = self.distance_button
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
else:
self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
return ret return ret
@ -208,12 +205,9 @@ class CarState(CarStateBase):
messages.append(("BSM", 1)) messages.append(("BSM", 1))
if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
if not CP.flags & ToyotaFlags.SMART_DSU.value:
messages += [
("ACC_CONTROL", 33),
]
messages += [ messages += [
("PCS_HUD", 1), ("PCS_HUD", 1),
("ACC_CONTROL", 33),
] ]
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:
@ -221,11 +215,6 @@ class CarState(CarStateBase):
("PRE_COLLISION", 33), ("PRE_COLLISION", 33),
] ]
if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
messages += [
("SDSU", 100),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@staticmethod @staticmethod

37
selfdrive/car/toyota/interface.py
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@ -44,18 +44,9 @@ class CarInterface(CarInterfaceBase):
stop_and_go = candidate in TSS2_CAR stop_and_go = candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
ret.flags |= ToyotaFlags.SMART_DSU.value
if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
# In TSS2 cars, the camera does long control # In TSS2 cars, the camera does long control
found_ecus = [fw.ecu for fw in car_fw] 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) \ ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
and not (ret.flags & ToyotaFlags.SMART_DSU)
if candidate == CAR.TOYOTA_PRIUS: if candidate == CAR.TOYOTA_PRIUS:
stop_and_go = True stop_and_go = True
@ -98,7 +89,7 @@ class CarInterface(CarInterfaceBase):
# TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
# For now, don't list stop and go functionality in the docs # For now, don't list stop and go functionality in the docs
if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU: if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs) stop_and_go = stop_and_go or (ret.enableDsu and not docs)
ret.centerToFront = ret.wheelbase * 0.44 ret.centerToFront = ret.wheelbase * 0.44
@ -110,28 +101,20 @@ class CarInterface(CarInterfaceBase):
# TODO: make an adas dbc file for dsu-less models # TODO: make an adas dbc file for dsu-less models
ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR) ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR ret.experimentalLongitudinalAvailable = candidate in RADAR_ACC_CAR
if not use_sdsu: # Disabling radar is only supported on TSS2 radar-ACC cars
# Disabling radar is only supported on TSS2 radar-ACC cars if experimental_long and candidate in RADAR_ACC_CAR:
if experimental_long and candidate in RADAR_ACC_CAR: ret.flags |= ToyotaFlags.DISABLE_RADAR.value
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
else:
use_sdsu = use_sdsu and experimental_long
# openpilot longitudinal enabled by default: # openpilot longitudinal enabled by default:
# - non-(TSS2 radar ACC cars) w/ smartDSU installed
# - cars w/ DSU disconnected # - cars w/ DSU disconnected
# - TSS2 cars with camera sending ACC_CONTROL where we can block it # - TSS2 cars with camera sending ACC_CONTROL where we can block it
# openpilot longitudinal behind experimental long toggle: # openpilot longitudinal behind experimental long toggle:
# - TSS2 radar ACC cars w/ smartDSU installed # - TSS2 radar ACC cars (disables radar)
# - TSS2 radar ACC cars w/o smartDSU installed (disables radar) ret.openpilotLongitudinalControl = ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
# - 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.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl: if not ret.openpilotLongitudinalControl:
@ -156,7 +139,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod @staticmethod
def init(CP, logcan, sendcan): def init(CP, logcan, sendcan):
# disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU # disable radar if alpha longitudinal toggled on radar-ACC car
if CP.flags & ToyotaFlags.DISABLE_RADAR.value: if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL]) communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control) disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
@ -165,7 +148,7 @@ class CarInterface(CarInterfaceBase):
def _update(self, c): def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam) ret = self.CS.update(self.cp, self.cp_cam)
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events # events

4
selfdrive/car/toyota/values.py
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@ -44,9 +44,7 @@ class CarControllerParams:
class ToyotaFlags(IntFlag): class ToyotaFlags(IntFlag):
# Detected flags # Detected flags
HYBRID = 1 HYBRID = 1
SMART_DSU = 2
DISABLE_RADAR = 4 DISABLE_RADAR = 4
RADAR_CAN_FILTER = 1024
# Static flags # Static flags
TSS2 = 8 TSS2 = 8
@ -56,7 +54,7 @@ class ToyotaFlags(IntFlag):
# these cars use the Lane Tracing Assist (LTA) message for lateral control # these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL = 128 ANGLE_CONTROL = 128
NO_STOP_TIMER = 256 NO_STOP_TIMER = 256
# these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU # these cars are speculated to allow stop and go when the DSU is unplugged
SNG_WITHOUT_DSU = 512 SNG_WITHOUT_DSU = 512

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