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pull/31607/head
Shane Smiskol 1 year ago
parent 32cc965fa7
commit 2bfd6819f3
1 changed files with 26 additions and 26 deletions
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  1. 52
      selfdrive/car/toyota/values.py

52
selfdrive/car/toyota/values.py
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@ -42,19 +42,19 @@ class CarControllerParams:
class ToyotaFlags(IntFlag): class ToyotaFlags(IntFlag):
# Detected flags
HYBRID = 1 HYBRID = 1
SMART_DSU = 2 SMART_DSU = 2
DISABLE_RADAR = 4 DISABLE_RADAR = 4
# Static flags
class ToyotaPlatformFlags(IntFlag): TSS2 = 8
TSS2 = 1 NO_DSU = 16
NO_DSU = 2 UNSUPPORTED_DSU = 32
UNSUPPORTED_DSU = 4 RADAR_ACC = 64
RADAR_ACC = 8
# 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 = 16 ANGLE_CONTROL = 128
NO_STOP_TIMER = 32 NO_STOP_TIMER = 256
class Footnote(Enum): class Footnote(Enum):
@ -74,7 +74,7 @@ class ToyotaTSS2PlatformConfig(PlatformConfig):
dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas')) dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
def init(self): def init(self):
self.flags |= ToyotaPlatformFlags.TSS2 | ToyotaPlatformFlags.NO_STOP_TIMER | ToyotaPlatformFlags.NO_DSU self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU
class CAR(Platforms): class CAR(Platforms):
@ -120,7 +120,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
], ],
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_DSU, flags=ToyotaFlags.NO_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
CAMRY_TSS2 = ToyotaTSS2PlatformConfig( CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
@ -138,7 +138,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
], ],
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_DSU, flags=ToyotaFlags.NO_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
CHR_TSS2 = ToyotaTSS2PlatformConfig( CHR_TSS2 = ToyotaTSS2PlatformConfig(
@ -147,7 +147,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2021"), ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
], ],
flags=ToyotaPlatformFlags.RADAR_ACC, flags=ToyotaFlags.RADAR_ACC,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
COROLLA = PlatformConfig( COROLLA = PlatformConfig(
@ -178,7 +178,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
@ -203,7 +203,7 @@ class CAR(Platforms):
"TOYOTA PRIUS v 2017", "TOYOTA PRIUS v 2017",
ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533) specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533)
), ),
PRIUS_TSS2 = ToyotaTSS2PlatformConfig( PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
@ -230,7 +230,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
RAV4_TSS2 = ToyotaTSS2PlatformConfig( RAV4_TSS2 = ToyotaTSS2PlatformConfig(
@ -248,7 +248,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
], ],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.RADAR_ACC, flags=ToyotaFlags.RADAR_ACC,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
RAV4_TSS2_2023 = PlatformConfig( RAV4_TSS2_2023 = PlatformConfig(
@ -258,7 +258,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
], ],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.RADAR_ACC | ToyotaPlatformFlags.ANGLE_CONTROL, flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
MIRAI = PlatformConfig( MIRAI = PlatformConfig(
@ -271,7 +271,7 @@ class CAR(Platforms):
"TOYOTA SIENNA 2018", "TOYOTA SIENNA 2018",
ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
@ -303,7 +303,7 @@ class CAR(Platforms):
"LEXUS IS 2018", "LEXUS IS 2018",
ToyotaCarInfo("Lexus IS 2017-19"), ToyotaCarInfo("Lexus IS 2017-19"),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
@ -337,7 +337,7 @@ class CAR(Platforms):
"LEXUS RC 2020", "LEXUS RC 2020",
ToyotaCarInfo("Lexus RC 2018-20"), ToyotaCarInfo("Lexus RC 2018-20"),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
LEXUS_RX = PlatformConfig( LEXUS_RX = PlatformConfig(
@ -364,7 +364,7 @@ class CAR(Platforms):
"LEXUS GS F 2016", "LEXUS GS F 2016",
ToyotaCarInfo("Lexus GS F 2016"), ToyotaCarInfo("Lexus GS F 2016"),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
), ),
@ -596,18 +596,18 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_T
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
CAR.CHR_TSS2} CAR.CHR_TSS2}
NO_DSU_CAR = CAR.with_flags(ToyotaPlatformFlags.NO_DSU) NO_DSU_CAR = CAR.with_flags(ToyotaFlags.NO_DSU)
# the DSU uses the AEB message for longitudinal on these cars # the DSU uses the AEB message for longitudinal on these cars
UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaPlatformFlags.UNSUPPORTED_DSU) UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaFlags.UNSUPPORTED_DSU)
# these cars have a radar which sends ACC messages instead of the camera # these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = CAR.with_flags(ToyotaPlatformFlags.RADAR_ACC) RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC)
ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaPlatformFlags.ANGLE_CONTROL) ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
# no resume button press required # no resume button press required
NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaPlatformFlags.NO_STOP_TIMER) NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
CAR_INFO = CAR.create_carinfo_map() CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map() DBC = CAR.create_dbc_map()

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