From f85a75cf542bbb05b929b959cb566d3f941410ea Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Thu, 20 Jan 2022 12:05:24 +1100 Subject: [PATCH] Toyota: LKAS_HUD expansion (#23573) * bump opendbc * add lkas_hud messages * Remove duplicate * bump opendbc * fix comment Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/toyota/toyotacan.py | 27 +++++++++++++++++++++------ 2 files changed, 22 insertions(+), 7 deletions(-) diff --git a/opendbc b/opendbc index 56d4afde5..ed41734a3 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 56d4afde5cec69f586cec38182e401190cd2d04e +Subproject commit ed41734a34ce3d350cf13c8d920b047d73d2cb67 diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 5fe30ccd7..ca5812679 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -69,17 +69,32 @@ def create_fcw_command(packer, fcw): def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled): values = { + "TWO_BEEPS": chime, + "LDA_ALERT": steer, "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, "BARRIERS" : 1 if enabled else 0, - "SET_ME_X0C": 0x0c, - "SET_ME_X2C": 0x2c, - "SET_ME_X38": 0x38, - "SET_ME_X02": 0x02, + + # static signals + "SET_ME_X02": 2, "SET_ME_X01": 1, "LKAS_STATUS": 1, "REPEATED_BEEPS": 0, - "TWO_BEEPS": chime, - "LDA_ALERT": steer, + "LANE_SWAY_FLD": 7, + "LANE_SWAY_BUZZER": 0, + "LANE_SWAY_WARNING": 0, + "LDA_FRONT_CAMERA_BLOCKED": 0, + "TAKE_CONTROL": 0, + "LANE_SWAY_SENSITIVITY": 2, + "LANE_SWAY_TOGGLE": 1, + "LDA_ON_MESSAGE": 0, + "LDA_SPEED_TOO_LOW": 0, + "LDA_SA_TOGGLE": 1, + "LDA_SENSITIVITY": 2, + "LDA_UNAVAILABLE": 0, + "LDA_MALFUNCTION": 0, + "LDA_UNAVAILABLE_QUIET": 0, + "ADJUSTING_CAMERA": 0, + "LDW_EXIST": 1, } return packer.make_can_msg("LKAS_HUD", 0, values)