Toyota: add unsupported DSU car list (#26336)

* note for dsu cars

* don't hardcode dsu footnote (1/2)

* test

* revert the experimental long toggle

* another day:(

* DSU doesn't have to be toyota specific, it's a generic carParam!

* this is safe, just make sure it's unknown

* these cars do not have OP long for some reason

* UNSUPPORTED_DSU_CAR

* forgot this

* .

* .

* revert

* revert

* smaller diff

selfdrive/car/toyota/carcontroller.py

@@ -5,7 +5,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
 from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
-                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams
+                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \
+                                        UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -112,7 +113,7 @@ class CarController:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
       # Lexus IS uses a different cancellation message
-      if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+      if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
         can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))

selfdrive/car/toyota/carstate.py

@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
+from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
 
 class CarState(CarStateBase):
@@ -87,7 +87,7 @@ class CarState(CarStateBase):
     # 17 is a fault from a prolonged high torque delta between cmd and user
     ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
 
-    if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+    if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
       cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
@@ -112,7 +112,7 @@ class CarState(CarStateBase):
     # these cars are identified by an ACC_TYPE value of 2.
     # TODO: it is possible to avoid the lockout and gain stop and go if you
     # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
-    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
+    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \
        (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
 
@@ -196,7 +196,7 @@ class CarState(CarStateBase):
       signals.append(("GAS_PEDAL", "GAS_PEDAL"))
       checks.append(("GAS_PEDAL", 33))
 
-    if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+    if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       signals.append(("MAIN_ON", "DSU_CRUISE"))
       signals.append(("SET_SPEED", "DSU_CRUISE"))
       signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))

selfdrive/car/toyota/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
-from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
+from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, 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
 
@@ -189,7 +189,7 @@ class CarInterface(CarInterfaceBase):
     smartDsu = 0x2FF in fingerprint[0]
     # In TSS2 cars the camera does long control
     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) and (not smartDsu)
+    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 smartDsu
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
     # 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 - RADAR_ACC_CAR)

selfdrive/car/toyota/values.py

@@ -1363,7 +1363,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896634AA0000\x00\x00\x00\x00',
-      b'\x01896634AA0100\x00\x00\x00\x00',      
+      b'\x01896634AA0100\x00\x00\x00\x00',
       b'\x01896634AA1000\x00\x00\x00\x00',
       b'\x01896634A88000\x00\x00\x00\x00',
       b'\x01896634A89000\x00\x00\x00\x00',
@@ -2032,6 +2032,9 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TS
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
+# the DSU uses the AEB message for longitudinal on these cars
+UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
+
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}