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Toyota: LKAS_HUD expansion (#23573)

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* bump opendbc

* add lkas_hud messages

* Remove duplicate

* bump opendbc

* fix comment

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/23585/head
cydia2020 3 years ago committed by GitHub
parent 22d43211d9
commit f85a75cf54
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2 changed files with 22 additions and 7 deletions
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  1. 2
      opendbc
  2. 27
      selfdrive/car/toyota/toyotacan.py

2
opendbc

@ -1 +1 @@
Subproject commit 56d4afde5cec69f586cec38182e401190cd2d04e Subproject commit ed41734a34ce3d350cf13c8d920b047d73d2cb67

27
selfdrive/car/toyota/toyotacan.py
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@ -69,17 +69,32 @@ def create_fcw_command(packer, fcw):
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled): def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
values = { values = {
"TWO_BEEPS": chime,
"LDA_ALERT": steer,
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
"BARRIERS" : 1 if enabled else 0, "BARRIERS" : 1 if enabled else 0,
"SET_ME_X0C": 0x0c,
"SET_ME_X2C": 0x2c, # static signals
"SET_ME_X38": 0x38, "SET_ME_X02": 2,
"SET_ME_X02": 0x02,
"SET_ME_X01": 1, "SET_ME_X01": 1,
"LKAS_STATUS": 1, "LKAS_STATUS": 1,
"REPEATED_BEEPS": 0, "REPEATED_BEEPS": 0,
"TWO_BEEPS": chime, "LANE_SWAY_FLD": 7,
"LDA_ALERT": steer, "LANE_SWAY_BUZZER": 0,
"LANE_SWAY_WARNING": 0,
"LDA_FRONT_CAMERA_BLOCKED": 0,
"TAKE_CONTROL": 0,
"LANE_SWAY_SENSITIVITY": 2,
"LANE_SWAY_TOGGLE": 1,
"LDA_ON_MESSAGE": 0,
"LDA_SPEED_TOO_LOW": 0,
"LDA_SA_TOGGLE": 1,
"LDA_SENSITIVITY": 2,
"LDA_UNAVAILABLE": 0,
"LDA_MALFUNCTION": 0,
"LDA_UNAVAILABLE_QUIET": 0,
"ADJUSTING_CAMERA": 0,
"LDW_EXIST": 1,
} }
return packer.make_can_msg("LKAS_HUD", 0, values) return packer.make_can_msg("LKAS_HUD", 0, values)

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