mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-19 22:53:57 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'brand/toyota/radar-filter' into pre-toyota

Browse Source
This commit is contained in:
Rick Lan
2025-05-27 15:35:01 +08:00
parent ad7ea05d76 9b588590f7
commit 3e6ac60b93
3 changed files with 14 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
opendbc_repo/opendbc/car/toyota/carcontroller.py
View File

@@ -284,7 +284,7 @@ class CarController(CarControllerBase):
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, lat_active, CS.lkas_hud))
if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
if not self.CP.flags & ToyotaFlags.RADAR_FILTER.value and (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
# *** static msgs ***
@@ -293,7 +293,7 @@ class CarController(CarControllerBase):
can_sends.append(CanData(addr, vl, bus))
# keep radar disabled
if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
if not self.CP.flags & ToyotaFlags.RADAR_FILTER.value and self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
new_actuators = actuators.as_builder()

12
opendbc_repo/opendbc/car/toyota/interface.py
View File

@@ -118,6 +118,16 @@ class CarInterface(CarInterfaceBase):
if experimental_long and candidate in RADAR_ACC_CAR:
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
# RADAR_ACC_CAR = CHR TSS2 / RAV4 TSS2
# NO_DSU_CAR = CAMRY / CHR
if 0x2FF in fingerprint[0] or 0x2AA in fingerprint[0]:
print("----------------------------------------------")
print("dragonpilot: RADAR_FILTER detected!")
print("----------------------------------------------")
ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.LONG_FILTER.value
ret.experimentalLongitudinalAvailable = False
ret.flags |= ToyotaFlags.RADAR_FILTER.value | 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
@@ -162,6 +172,6 @@ class CarInterface(CarInterfaceBase):
@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:
if not CP.flags & ToyotaFlags.RADAR_FILTER.value and 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)

1
opendbc_repo/opendbc/car/toyota/values.py
View File

@@ -80,6 +80,7 @@ class ToyotaFlags(IntFlag):
ALKA = 2 ** 12
DOOR_AUTO_LOCK_UNLOCK = 2 ** 13
TSS1_SNG = 2 ** 14
RADAR_FILTER = 2 ** 15
class Footnote(Enum):
CAMRY = CarFootnote(