From d070d8125ab757b93c221f0efa3c8e86aac638ca Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 Dec 2022 17:15:00 -0800 Subject: [PATCH] let packer set counter --- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/toyota/toyotacan.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index c5bfdc4b22..8840731ab3 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -112,7 +112,7 @@ class CarController: can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg, CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg, CS.out.steeringTorque, - apply_steer_req, self.frame)) + apply_steer_req)) # we can spam can to cancel the system even if we are using lat only control if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 36e6f5aa4d..a946809492 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -12,13 +12,12 @@ def create_steer_command(packer, steer, steer_req): return packer.make_can_msg("STEERING_LKA", 0, values) -def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req, raw_cnt): +def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req): """Creates a CAN message for the Toyota LTA Steer Command.""" percentage = interp(abs(driver_torque), [50, 100], [100, 0]) apply_steer = interp(percentage, [-10, 100], [steer_angle, apply_steer]) values = { - "COUNTER": raw_cnt, # 0 to 62 "SETME_X1": 1, "SETME_X3": 1, # usually 1, but sometimes 3 (??) "PERCENTAGE": 100, # correlated with driver torque