IQ.Pilot Prebuilt Release @ da36e21
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IQ.Lvbs CI [bot]
210
_vendor_runtime/iqdbc/car/toyota/interface.py
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210
_vendor_runtime/iqdbc/car/toyota/interface.py
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from iqdbc.car import Bus, structs, get_safety_config, uds
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from iqdbc.car.toyota.carstate import CarState
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from iqdbc.car.toyota.carcontroller import CarController
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from iqdbc.car.toyota.radar_interface import RadarInterface
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from iqdbc.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, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
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ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
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from iqdbc.car.disable_ecu import disable_ecu
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from iqdbc.car.interfaces import CarInterfaceBase
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from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ, ToyotaSafetyFlagsIQ
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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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DRIVABLE_GEARS = (structs.CarState.GearShifter.sport,)
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@staticmethod
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def get_pid_accel_limits(CP, CP_IQ, 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, is_release, 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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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_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_LS, CAR.LEXUS_NX):
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# TODO: Some of these platforms are not advertised to have full range ACC, do they really all have sng?
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stop_and_go = True
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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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ret.openpilotLongitudinalControl = (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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# 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 _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
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car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
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if candidate in UNSUPPORTED_DSU_CAR:
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ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU
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# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
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# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
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if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
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ret.flags |= ToyotaFlagsIQ.SMART_DSU.value
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if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
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ret.flags |= ToyotaFlagsIQ.RADAR_CAN_FILTER.value
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# Detect ZSS, which allows iqpilot to utilize an improved angle sensor for some Toyota vehicles
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# https://github.com/zorrobyte/betterToyotaAngleSensorForOP
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if 0x23 in fingerprint[0] and not stock_cp.flags & ToyotaFlags.SECOC:
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ret.flags |= ToyotaFlagsIQ.ZSS.value
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if candidate == CAR.TOYOTA_PRIUS:
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if ret.flags & ToyotaFlagsIQ.ZSS:
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stock_cp.steerRatio = 15.0
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stock_cp.mass = 3370.
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# reuse logic from _get_params
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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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stock_cp.steerActuatorDelay = 0.25
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CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning, steering_angle_deadzone_deg=0.0)
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use_sdsu = bool(ret.flags & ToyotaFlagsIQ.SMART_DSU)
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stock_cp.minEnableSpeed = -1. if use_sdsu else stock_cp.minEnableSpeed
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stock_cp.alphaLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
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if use_sdsu:
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use_sdsu = use_sdsu and alpha_long
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stock_cp.flags &= ~ToyotaFlags.DISABLE_RADAR.value
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elif candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
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if alpha_long and candidate in RADAR_ACC_CAR:
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stock_cp.flags |= ToyotaFlags.DISABLE_RADAR.value
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# openpilot longitudinal enabled by default:
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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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# - cars w/ smartDSU or CAN filter installed
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# - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
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stock_cp.openpilotLongitudinalControl = use_sdsu or \
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candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
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bool(stock_cp.flags & ToyotaFlags.DISABLE_RADAR)
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ret.enableGasInterceptor = 0x201 in fingerprint[0] and stock_cp.openpilotLongitudinalControl and \
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not stock_cp.flags & ToyotaFlags.SECOC
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if ret.enableGasInterceptor:
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ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.GAS_INTERCEPTOR
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stock_cp.minEnableSpeed = -1.
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if ret.flags & ToyotaFlagsIQ.STOCK_LONGITUDINAL:
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stock_cp.alphaLongitudinalAvailable = False
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stock_cp.openpilotLongitudinalControl = False
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if not stock_cp.openpilotLongitudinalControl:
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stock_cp.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
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else:
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stock_cp.safetyConfigs[0].safetyParam &= ~ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
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return ret
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@staticmethod
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def init(CP, CP_IQ, can_recv, can_send, communication_control=None):
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# disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
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if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
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if communication_control is None:
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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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@staticmethod
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def deinit(CP, can_recv, can_send):
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# re-enable radar if alpha longitudinal toggled on radar-ACC car
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communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX, uds.MESSAGE_TYPE.NORMAL])
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CarInterface.init(CP, can_recv, can_send, communication_control)
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