from opendbc.car import Bus, structs, get_safety_config, uds from opendbc.car.toyota.carstate import CarState from opendbc.car.toyota.carcontroller import CarController from opendbc.car.toyota.radar_interface import RadarInterface from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \ ToyotaSafetyFlags from opendbc.car.disable_ecu import disable_ecu from opendbc.car.interfaces import CarInterfaceBase SteerControlType = structs.CarParams.SteerControlType class CarInterface(CarInterfaceBase): CarState = CarState CarController = CarController RadarInterface = RadarInterface @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): return CarControllerParams(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX @staticmethod def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams: ret.brand = "toyota" ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] # BRAKE_MODULE is on a different address for these cars if DBC[candidate][Bus.pt] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_BRAKE.value if ret.flags & ToyotaFlags.SECOC.value: ret.secOcRequired = True ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.SECOC.value if candidate in ANGLE_CONTROL_CAR: ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.LTA.value # LTA control can be more delayed and winds up more often ret.steerActuatorDelay = 0.18 ret.steerLimitTimer = 0.8 else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 stop_and_go = candidate in TSS2_CAR # 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 | UNSUPPORTED_DSU_CAR) if Ecu.hybrid in found_ecus: ret.flags |= ToyotaFlags.HYBRID.value if candidate == CAR.TOYOTA_PRIUS: stop_and_go = True # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': ret.steerActuatorDelay = 0.25 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True ret.wheelSpeedFactor = 1.035 elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf stop_and_go = candidate != CAR.TOYOTA_AVALON elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN): ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0] ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.1] ret.lateralTuning.pid.kf = 0.00007818594 # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): ret.lateralTuning.pid.kpV = [0.15] ret.lateralTuning.pid.kiV = [0.05] ret.lateralTuning.pid.kf = 0.00004 break elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX): # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars? stop_and_go = True # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. # For now, don't list stop and go functionality in the docs if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU: stop_and_go = stop_and_go or (ret.enableDsu and not docs) ret.centerToFront = ret.wheelbase * 0.44 # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. # Detect flipped signals and enable for C-HR and others ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # No radar dbc for cars without DSU which are not TSS 2.0 # TODO: make an adas dbc file for dsu-less models ret.radarUnavailable = Bus.radar not in DBC[candidate] or candidate in (NO_DSU_CAR - TSS2_CAR) # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): ret.alphaLongitudinalAvailable = candidate in RADAR_ACC_CAR # Disabling radar is only supported on TSS2 radar-ACC cars if alpha_long and candidate in RADAR_ACC_CAR: ret.flags |= ToyotaFlags.DISABLE_RADAR.value # openpilot longitudinal enabled by default: # - cars w/ DSU disconnected # - TSS2 cars with camera sending ACC_CONTROL where we can block it # openpilot longitudinal behind experimental long toggle: # - TSS2 radar ACC cars (disables radar) if ret.flags & ToyotaFlags.SECOC.value: ret.openpilotLongitudinalControl = False else: ret.openpilotLongitudinalControl = ret.enableDsu or \ candidate in (TSS2_CAR - RADAR_ACC_CAR) or \ bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.STOCK_LONGITUDINAL.value # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED if candidate in TSS2_CAR: ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 ret.stoppingDecelRate = 0.3 # reach stopping target smoothly # Hybrids have much quicker longitudinal actuator response if ret.flags & ToyotaFlags.HYBRID.value: ret.longitudinalActuatorDelay = 0.05 return ret @staticmethod def init(CP, can_recv, can_send): # disable radar if alpha longitudinal toggled on radar-ACC car if CP.flags & ToyotaFlags.DISABLE_RADAR.value: communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL]) disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)