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Toyota: detect TSS-P CAN filter device as smartDsu to enable long (#28387)

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* detect tss-p canfilter device as smartDsu to enable long

* Add canfilter test case

* add comment, behind alpha long

* add doc

* safe

* update check

* cmt

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 89d6bc6c7b6b4e55cf573dc1ebcf88533d7baee4
This commit is contained in:
Eric Day
2023-09-06 16:36:16 +08:00
committed by GitHub
parent 76322812b0
commit 8702d1b967
2 changed files with 8 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
selfdrive/car/tests/routes.py
View File

@@ -168,6 +168,7 @@ routes = [
CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter
CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),

11
selfdrive/car/toyota/interface.py
View File

@@ -204,7 +204,8 @@ class CarInterface(CarInterfaceBase):
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
if 0x2FF in fingerprint[0]:
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
ret.flags |= ToyotaFlags.SMART_DSU.value
# No radar dbc for cars without DSU which are not TSS 2.0
@@ -218,13 +219,14 @@ class CarInterface(CarInterfaceBase):
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
# since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in RADAR_ACC_CAR:
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.experimentalLongitudinalAvailable = use_sdsu
if not use_sdsu:
if experimental_long and False: # TODO: disabling radar isn't supported yet
# Disabling radar is only supported on TSS2 radar-ACC cars
if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
else:
use_sdsu = use_sdsu and experimental_long
@@ -236,6 +238,7 @@ class CarInterface(CarInterfaceBase):
# openpilot longitudinal behind experimental long toggle:
# - TSS2 radar ACC cars w/ smartDSU installed
# - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or 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