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160 lines
7.2 KiB
160 lines
7.2 KiB
from opendbc.car import Bus, structs, get_safety_config, uds
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from opendbc.car.toyota.carstate import CarState
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from opendbc.car.toyota.carcontroller import CarController
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from opendbc.car.toyota.radar_interface import RadarInterface
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from opendbc.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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ToyotaSafetyFlags
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from opendbc.car.disable_ecu import disable_ecu
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from opendbc.car.interfaces import CarInterfaceBase
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SteerControlType = structs.CarParams.SteerControlType
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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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(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
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ret.brand = "toyota"
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ret.safetyConfigs = [get_safety_config(structs.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][Bus.pt] == "toyota_new_mc_pt_generated":
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ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_BRAKE.value
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if ret.flags & ToyotaFlags.SECOC.value:
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ret.secOcRequired = True
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ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.SECOC.value
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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 |= ToyotaSafetyFlags.LTA.value
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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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stop_and_go = candidate in TSS2_CAR
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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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if Ecu.hybrid in found_ecus:
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ret.flags |= ToyotaFlags.HYBRID.value
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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, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
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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 (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 = Bus.radar not in DBC[candidate] or candidate in (NO_DSU_CAR - TSS2_CAR)
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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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if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
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ret.alphaLongitudinalAvailable = candidate in RADAR_ACC_CAR
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# Disabling radar is only supported on TSS2 radar-ACC cars
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if alpha_long and candidate in RADAR_ACC_CAR:
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ret.flags |= ToyotaFlags.DISABLE_RADAR.value
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# openpilot longitudinal enabled by default:
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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 (disables radar)
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if ret.flags & ToyotaFlags.SECOC.value:
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ret.openpilotLongitudinalControl = False
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else:
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ret.openpilotLongitudinalControl = ret.enableDsu or \
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candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
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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 |= ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
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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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if candidate in TSS2_CAR:
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ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
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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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# Hybrids have much quicker longitudinal actuator response
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if ret.flags & ToyotaFlags.HYBRID.value:
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ret.longitudinalActuatorDelay = 0.05
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return ret
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@staticmethod
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def init(CP, can_recv, can_send):
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# disable radar if alpha longitudinal toggled on radar-ACC car
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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(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
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