Toyota: remove disconnected DSU support (#2931)

* start rn * bring back unsup dsu for carstate * more * yay more red diff * final * final * expected failures for enableDsu routes. non tested for now * keep
2026-02-18 13:03:52 +08:00 · 2025-12-04 23:51:05 -08:00
parent 89b131e1b9
commit 15b8354e16
7 changed files with 28 additions and 74 deletions
--- a/opendbc/car/car.capnp
+++ b/opendbc/car/car.capnp
@@ -461,7 +461,6 @@ struct CarParams {
  notCar @66 :Bool;  # flag for non-car robotics platforms

  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
  enableBsm @56 :Bool;       # blind spot monitoring
  flags @64 :UInt32;         # flags for car specific quirks
  alphaLongitudinalAvailable @71 :Bool;
@@ -733,4 +732,5 @@ struct CarParams {
  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
  stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
  radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  enableDsuDEPRECATED @5 :Bool;        # driving support unit
 }
--- a/opendbc/car/docs_definitions.py
+++ b/opendbc/car/docs_definitions.py
@@ -189,11 +189,6 @@ class CommonFootnote(Enum):
    "openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
    "the toggle is only available in non-release branches such as `devel` or `nightly-dev`.",
    Column.LONGITUDINAL, docs_only=True)
-  EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
-    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
-    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
-    Column.LONGITUDINAL)


 def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
@@ -269,13 +264,10 @@ class CarDocs:

    # longitudinal column
    op_long = "Stock"
-    if CP.alphaLongitudinalAvailable or CP.enableDsu:
+    if CP.alphaLongitudinalAvailable:
      op_long = "openpilot available"
-      if CP.enableDsu:
-        self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
-      else:
-        self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
-    elif CP.openpilotLongitudinalControl and not CP.enableDsu:
+      self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
+    elif CP.openpilotLongitudinalControl:
      op_long = "openpilot"

    # min steer & enable speed columns
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -31,7 +31,13 @@ non_tested_cars = [
  HONDA.ACURA_TLX_2G,
  HONDA.HONDA_NBOX_2G,
  HONDA.ACURA_MDX_4G_MMR,
-  HONDA.HONDA_CITY_7G
+  HONDA.HONDA_CITY_7G,
+
+  # These had their DSUs unplugged, need new routes
+  # TOYOTA.LEXUS_ES  # hybrid
+  TOYOTA.TOYOTA_COROLLA,
+  TOYOTA.TOYOTA_RAV4H,
+
 ]


@@ -215,12 +221,12 @@ routes = [
  CarTestRoute("54034823d30962f5/2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY),  # hybrid
  CarTestRoute("3456ad0cd7281b24/2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2),
  CarTestRoute("ffccc77938ddbc44/2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2),  # hybrid
-  CarTestRoute("4e45c89c38e8ec4d/2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
+  # CarTestRoute("4e45c89c38e8ec4d/2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
  CarTestRoute("5f5afb36036506e4/2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2),
  CarTestRoute("5ceff72287a5c86c/2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2),  # hybrid
  CarTestRoute("d2525c22173da58b/2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS),
  CarTestRoute("b14c5b4742e6fc85/2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4),
-  CarTestRoute("32a7df20486b0f70/2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
+  # CarTestRoute("32a7df20486b0f70/2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
  CarTestRoute("cdf2f7de565d40ae/2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2),
  CarTestRoute("a5c341bb250ca2f0/2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022),
  CarTestRoute("ad5a3fa719bc2f83/2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023),
@@ -231,7 +237,7 @@ routes = [
  CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN),  # SecOC
  CarTestRoute("0b54d0594d924cd9/00000057--b6206a3205", TOYOTA.TOYOTA_YARIS),  # SecOC
  CarTestRoute("7a31f030957b9c85/2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
-  CarTestRoute("37041c500fd30100/2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
+  # CarTestRoute("37041c500fd30100/2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
  CarTestRoute("e6a24be49a6cd46e/2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
  CarTestRoute("f49e8041283f2939/2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
  CarTestRoute("da23c367491f53e2/2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -2,14 +2,13 @@ import math
 import numpy as np
 from opendbc.car import Bus, make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
-from opendbc.car.can_definitions import CanData
 from opendbc.car.carlog import carlog
 from opendbc.car.common.filter_simple import FirstOrderFilter, HighPassFilter
 from opendbc.car.common.pid import PIDController
 from opendbc.car.secoc import add_mac, build_sync_mac
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.toyota import toyotacan
-from opendbc.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
+from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                        CarControllerParams, ToyotaFlags, \
                                        UNSUPPORTED_DSU_CAR
 from opendbc.can import CANPacker
@@ -293,15 +292,9 @@ class CarController(CarControllerBase):
                                                     hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))

-      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
+      if (self.frame % 100 == 0 or send_ui) and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
        can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))

-    # *** static msgs ***
-    if self.CP.enableDsu:
-      for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
-        if self.frame % fr_step == 0 and self.CP.carFingerprint in cars:
-          can_sends.append(CanData(addr, vl, bus))
-
    # keep radar disabled
    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
      can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
--- a/opendbc/car/toyota/carstate.py
+++ b/opendbc/car/toyota/carstate.py
@@ -78,7 +78,7 @@ class CarState(CarStateBase):
    else:
      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
      can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
-      if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
        ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)

    self.parse_wheel_speeds(ret,
--- a/opendbc/car/toyota/interface.py
+++ b/opendbc/car/toyota/interface.py
@@ -3,7 +3,7 @@ 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, \
+                                                  MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
                                                  ToyotaSafetyFlags
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
@@ -52,7 +52,6 @@ class CarInterface(CarInterfaceBase):

    # 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
@@ -92,14 +91,9 @@ class CarInterface(CarInterfaceBase):
          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?
+      # TODO: Some of these platforms are not advertised to have full range ACC, do they really all have sng?
      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.
@@ -124,9 +118,8 @@ class CarInterface(CarInterfaceBase):
    # openpilot longitudinal behind experimental long toggle:
    #  - TSS2 radar ACC cars (disables radar)

-    ret.openpilotLongitudinalControl = ret.enableDsu or \
-      candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
-      bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+    ret.openpilotLongitudinalControl = (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

--- a/opendbc/car/toyota/values.py
+++ b/opendbc/car/toyota/values.py
@@ -71,12 +71,14 @@ class ToyotaFlags(IntFlag):
  # these cars use the Lane Tracing Assist (LTA) message for lateral control
  ANGLE_CONTROL = 128
  NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged
-  SNG_WITHOUT_DSU = 512
  # these cars can utilize 2.0 m/s^2
  RAISED_ACCEL_LIMIT = 1024
  SECOC = 2048

+  # deprecated flags
+  # these cars are speculated to allow stop and go when the DSU is unplugged
+  SNG_WITHOUT_DSU_DEPRECATED = 512
+

 def dbc_dict(pt, radar):
  return {Bus.pt: pt, Bus.radar: radar}
@@ -213,7 +215,7 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
+    flags=ToyotaFlags.NO_STOP_TIMER,
  )
  TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
    [
@@ -235,7 +237,7 @@ class CAR(Platforms):
    [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
    CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
+    flags=ToyotaFlags.NO_STOP_TIMER,
  )
  TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
    [
@@ -260,7 +262,7 @@ class CAR(Platforms):
    TOYOTA_RAV4.specs,
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
    # Note that the ICE RAV4 does not respect positive acceleration commands under 19 mph
-    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
+    flags=ToyotaFlags.NO_STOP_TIMER,
  )
  TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig(
    [
@@ -397,38 +399,6 @@ class CAR(Platforms):
  )


-# (addr, cars, bus, 1/freq*100, vl)
-STATIC_DSU_MSGS = [
-  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON),
-                                                                                                                      1, 3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V),
-                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
-           CAR.TOYOTA_PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V),
-          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
-           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
-]
-
-
 def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
  # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
  codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_version