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@ -43,6 +43,11 @@ class CarInterface(CarInterfaceBase): |
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stop_and_go = candidate in TSS2_CAR |
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# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it |
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# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs |
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if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): |
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ret.flags |= ToyotaFlags.SMART_DSU.value |
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if candidate == CAR.PRIUS: |
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stop_and_go = True |
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# Only give steer angle deadzone to for bad angle sensor prius |
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@ -68,8 +73,9 @@ class CarInterface(CarInterfaceBase): |
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stop_and_go = True |
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elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): |
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# TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU |
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stop_and_go = True |
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# TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU. |
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# For now, don't list stop and go functionality in the docs |
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stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) |
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elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): |
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# starting from 2019, all Avalon variants have stop and go |
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@ -111,11 +117,6 @@ class CarInterface(CarInterfaceBase): |
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# Detect flipped signals and enable for C-HR and others |
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ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR |
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# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it |
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# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs |
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if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): |
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ret.flags |= ToyotaFlags.SMART_DSU.value |
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# No radar dbc for cars without DSU which are not TSS 2.0 |
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# TODO: make an adas dbc file for dsu-less models |
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ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR) |
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Shane Smiskol
1 year ago
committed by
GitHub