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202 lines
9.4 KiB
202 lines
9.4 KiB
from cereal import car
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from panda import Panda
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from panda.python import uds
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from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
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MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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SteerControlType = car.CarParams.SteerControlType
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "toyota"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
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ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
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# BRAKE_MODULE is on a different address for these cars
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if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
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if candidate in ANGLE_CONTROL_CAR:
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ret.steerControlType = SteerControlType.angle
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
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# LTA control can be more delayed and winds up more often
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ret.steerActuatorDelay = 0.18
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ret.steerLimitTimer = 0.8
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else:
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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ret.steerLimitTimer = 0.4
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ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
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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 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
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ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
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# In TSS2 cars, the camera does long control
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found_ecus = [fw.ecu for fw in car_fw]
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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) \
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and not (ret.flags & ToyotaFlags.SMART_DSU)
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if candidate == CAR.TOYOTA_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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for fw in car_fw:
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if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
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ret.steerActuatorDelay = 0.25
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
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elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
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stop_and_go = True
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ret.wheelSpeedFactor = 1.035
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elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2):
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# starting from 2019, all Avalon variants have stop and go
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# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
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stop_and_go = candidate != CAR.TOYOTA_AVALON
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elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kiBP = [0.0]
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ret.lateralTuning.pid.kpBP = [0.0]
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ret.lateralTuning.pid.kpV = [0.6]
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ret.lateralTuning.pid.kiV = [0.1]
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ret.lateralTuning.pid.kf = 0.00007818594
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# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
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# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
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for fw in car_fw:
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if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
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ret.lateralTuning.pid.kpV = [0.15]
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ret.lateralTuning.pid.kiV = [0.05]
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ret.lateralTuning.pid.kf = 0.00004
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break
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elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
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# TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
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stop_and_go = True
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# TODO: these 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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if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
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stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
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ret.centerToFront = ret.wheelbase * 0.44
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# TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
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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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# 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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# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
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# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
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use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
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if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
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ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
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if not use_sdsu:
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# Disabling radar is only supported on TSS2 radar-ACC cars
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if experimental_long and candidate in RADAR_ACC_CAR:
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ret.flags |= ToyotaFlags.DISABLE_RADAR.value
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else:
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use_sdsu = use_sdsu and experimental_long
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# openpilot longitudinal enabled by default:
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# - non-(TSS2 radar ACC cars) w/ smartDSU installed
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# - cars w/ DSU disconnected
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# - TSS2 cars with camera sending ACC_CONTROL where we can block it
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# openpilot longitudinal behind experimental long toggle:
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# - TSS2 radar ACC cars w/ smartDSU installed
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# - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
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# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
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ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
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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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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
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tune = ret.longitudinalTuning
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tune.deadzoneBP = [0., 9.]
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tune.deadzoneV = [.0, .15]
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if candidate in TSS2_CAR:
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tune.kpBP = [0., 5., 20.]
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tune.kpV = [1.3, 1.0, 0.7]
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tune.kiBP = [0., 5., 12., 20., 27.]
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tune.kiV = [.35, .23, .20, .17, .1]
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if candidate in TSS2_CAR:
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ret.vEgoStopping = 0.25
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ret.vEgoStarting = 0.25
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ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
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else:
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tune.kpBP = [0., 5., 35.]
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tune.kiBP = [0., 35.]
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tune.kpV = [3.6, 2.4, 1.5]
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tune.kiV = [0.54, 0.36]
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return ret
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@staticmethod
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def init(CP, logcan, sendcan):
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# disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
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if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
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communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
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disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
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ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
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# events
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events = self.create_common_events(ret)
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# Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
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# the more accurate angle sensor signal is initialized
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if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
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events.add(EventName.vehicleSensorsInvalid)
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if self.CP.openpilotLongitudinalControl:
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if ret.cruiseState.standstill and not ret.brakePressed:
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events.add(EventName.resumeRequired)
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if self.CS.low_speed_lockout:
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events.add(EventName.lowSpeedLockout)
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if ret.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.belowEngageSpeed)
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if c.actuators.accel > 0.3:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.add(EventName.speedTooLow)
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if ret.vEgo < 0.001:
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# while in standstill, send a user alert
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events.add(EventName.manualRestart)
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ret.events = events.to_msg()
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return ret
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