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@ -212,8 +212,15 @@ class CarInterface(CarInterfaceBase): |
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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 (ret.flags & ToyotaFlags.SMART_DSU) |
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ret.enableGasInterceptor = 0x201 in fingerprint[0] |
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# 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") |
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ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) |
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ret.radarUnavailable = candidate in RADAR_ACC_CAR |
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ret.experimentalLongitudinalAvailable = ret.radarUnavailable and bool(ret.flags & ToyotaFlags.SMART_DSU) |
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# radar ACC cars w/ smart-DSU installed and experimental_long is enabled. |
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# cars w/ smart-DSU installed. |
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# cars w/ DSU disconnected. |
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# tss2 cars but ACC CMD is not coming from radar. |
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ret.openpilotLongitudinalControl = (experimental_long and ret.experimentalLongitudinalAvailable) or bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) |
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ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR |
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if not ret.openpilotLongitudinalControl: |
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