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dsu_reroute_harness.patch
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dsu_reroute_harness.patch
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diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e4ea0d30f..e9284f983 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -128,9 +128,11 @@ class CarState(CarStateBase):
conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
- cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
+ cp_acc = cp_cam if (self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or \
+ bool(self.CP.flags & ToyotaFlags.DSU_BYPASS.value)) else cp
- if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+ if (self.CP.flags & ToyotaFlags.DSU_BYPASS.value) or (self.CP.carFingerprint in TSS2_CAR \
+ and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
@@ -208,7 +210,8 @@ class CarState(CarStateBase):
("PCS_HUD", 1),
]
- if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+ if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and \
+ not (CP.flags & ToyotaFlags.DISABLE_RADAR.value or CP.flags & ToyotaFlags.DSU_BYPASS.value):
messages += [
("PRE_COLLISION", 33),
]
@@ -224,7 +227,7 @@ class CarState(CarStateBase):
("LKAS_HUD", 1),
]
- if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+ if CP.flags & ToyotaFlags.DSU_BYPASS.value or CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
messages += [
("PRE_COLLISION", 33),
("ACC_CONTROL", 33),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 7fd5c9435..55532719f 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -116,6 +116,10 @@ class CarInterface(CarInterfaceBase):
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
ret.flags |= ToyotaFlags.SMART_DSU.value
+ # 0x343 should not be present on bus 2 on cars other than TSS2_CAR unless we are re-routing DSU
+ if (0x343 in fingerprint[2] or 0x4CB in fingerprint[2]) and candidate not in TSS2_CAR:
+ ret.flags |= ToyotaFlags.DSU_BYPASS.value
+
# No radar dbc for cars without DSU which are not TSS 2.0
# TODO: make an adas dbc file for dsu-less models
ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
@@ -146,7 +150,8 @@ class CarInterface(CarInterfaceBase):
# - 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.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
+ bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) or bool(ret.flags & ToyotaFlags.DSU_BYPASS.value)
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9989b9225..de0a40ed1 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -46,6 +46,7 @@ class ToyotaFlags(IntFlag):
HYBRID = 1
SMART_DSU = 2
DISABLE_RADAR = 4
+ DSU_BYPASS = 512
# Static flags
TSS2 = 8