From 43b62d8bb6627c6e33b082848a978ab65d7ec7d0 Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Fri, 3 Apr 2020 17:31:12 +0200 Subject: [PATCH] Toyota Tss2 Blindspot signals (#1309) * Toyota Tss2 Blindspot signals Adding these signals are easy, they are on the can bus. * Update ref_commit --- selfdrive/car/toyota/carstate.py | 10 +++++++++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index e5d58f0dfa..18af6f7741 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -100,6 +100,10 @@ class CarState(CarStateBase): # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE'] self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5] + + if self.CP.carFingerprint in TSS2_CAR: + ret.leftBlindspot = cp.vl["BSM"]['L_ADJACENT'] == 1 + ret.rightBlindspot = cp.vl["BSM"]['R_ADJACENT'] == 1 return ret @@ -164,7 +168,11 @@ class CarState(CarStateBase): signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0)) signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0)) checks.append(("GAS_SENSOR", 50)) - + + if CP.carFingerprint in TSS2_CAR: + signals += [("L_ADJACENT", "BSM", 0)] + signals += [("R_ADJACENT", "BSM", 0)] + return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0) @staticmethod diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 10ff3748b8..f21a4476ea 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -64da2a519cfff9f74bd07190dd96425224a8ad1f \ No newline at end of file +63ee3eaab23b45821a3a04888ae7506ec27dedb3