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Hotfix: fix Toyota EV detection, Honda Nidec fault, and Subaru Ascent misfingerprinting (#23846) 

* Toyota: fix flaky EV detection (#23825)

* Honda: revert to button enable on Nidec (#23828)

* Honda: revert to button enable on Nidec

* fix test

* bump panda

* Subaru: remove Impreza CAN fingerprints (#23841)

* Subaru: remove Impreza CAN fingerprints

* fix process replay

* update refs
devel
Adeeb Shihadeh 2022-02-23 16:31:38 -08:00 committed by GitHub
parent 14adf3afa2
commit 141c3466f1
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 11 additions and 6 deletions
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4
panda/board/safety/safety_honda.h
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@ -96,7 +96,9 @@ static int honda_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &honda_rx_checks,
honda_get_checksum, honda_compute_checksum, honda_get_counter);
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || ((honda_hw == HONDA_NIDEC) && !gas_interceptor_detected);
// TODO: add back Honda Nidec once we handle it properly in openpilot
//const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || ((honda_hw == HONDA_NIDEC) && !gas_interceptor_detected);
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long);
if (valid) {
int addr = GET_ADDR(to_push);

3
selfdrive/car/subaru/values.py
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@ -26,9 +26,6 @@ class CAR:
OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
FINGERPRINTS = {
CAR.IMPREZA: [{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
}],
CAR.IMPREZA_2020: [{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8
},

6
selfdrive/car/toyota/interface.py
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@ -2,7 +2,7 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, CarControllerParams
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@ -217,7 +217,9 @@ class CarInterface(CarInterfaceBase):
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
if 0x245 in fingerprint[0]:
# we can't use the fingerprint to detect this reliably, since
# the EV gas pedal signal can take a couple seconds to appear
if candidate in EV_HYBRID_CAR:
ret.flags |= ToyotaFlags.HYBRID.value
# min speed to enable ACC. if car can do stop and go, then set enabling speed

4
selfdrive/car/toyota/values.py
View File

@ -1718,5 +1718,9 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2}
# no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}