From 1f8aa057bc1c96fcf8a2b612a9897ce91e627381 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 8 Dec 2022 20:35:26 -0800 Subject: [PATCH] Toyota: update LTA signals (#759) * si * fix comments * run generator * Revert "run generator" This reverts commit 2b67e4c78ae141fc2bd0c37e9d974cb96d6837e9. Revert "fix comments" This reverts commit 7f95fd2cc9027e08816ab68f8fe776db98dc1866. Revert "si" This reverts commit f058760d3b11429057800f031fec8b13f1a70d91. * sort and add LKA_ACTIVE signal (also flip STEER_REQUEST and _2) * Revert "sort and add LKA_ACTIVE signal (also flip STEER_REQUEST and _2)" This reverts commit 4ffd0f27db894bb25a7148b59c1c91b0e564d179. * minimal changes * run generator --- generator/toyota/toyota_nodsu_pt.dbc | 8 +++++--- toyota_nodsu_pt_generated.dbc | 8 +++++--- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/generator/toyota/toyota_nodsu_pt.dbc b/generator/toyota/toyota_nodsu_pt.dbc index 9936b295..fe0ab323 100644 --- a/generator/toyota/toyota_nodsu_pt.dbc +++ b/generator/toyota/toyota_nodsu_pt.dbc @@ -8,10 +8,11 @@ BO_ 401 STEERING_LTA: 8 XXX SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX - SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX - SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX BO_ 550 BRAKE_MODULE: 8 XXX @@ -38,9 +39,10 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1"; CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; -CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; CM_ SG_ 401 BIT "has correlation to STEER_REQUEST"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA"; CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; diff --git a/toyota_nodsu_pt_generated.dbc b/toyota_nodsu_pt_generated.dbc index fff427d6..760a4d9b 100644 --- a/toyota_nodsu_pt_generated.dbc +++ b/toyota_nodsu_pt_generated.dbc @@ -545,10 +545,11 @@ BO_ 401 STEERING_LTA: 8 XXX SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX - SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX - SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX BO_ 550 BRAKE_MODULE: 8 XXX @@ -575,9 +576,10 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1"; CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; -CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; CM_ SG_ 401 BIT "has correlation to STEER_REQUEST"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA"; CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";