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Toyota: DBC signal renames (#23452) 

* rename signals

bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

* bump opendbc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/23520/head
cydia2020 2022-01-14 14:37:39 +11:00 committed by GitHub
parent 6dbae9593e
commit 9f4fd73b52
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 14 additions and 14 deletions
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2
opendbc

@ -1 +1 @@
Subproject commit 99206b0b141673c679bc0b7b62b4be5e8a560fd4
Subproject commit 2ffa8dfa4e2ccea4d81bdf5f0c62d496f64b53b1

26
selfdrive/car/toyota/carstate.py
View File

@ -28,9 +28,9 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.doorOpen = any([cp.vl["SEATS_DOORS"]["DOOR_OPEN_FL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_FR"],
cp.vl["SEATS_DOORS"]["DOOR_OPEN_RL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]["SEATBELT_DRIVER_UNLATCHED"] != 0
ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
@ -72,8 +72,8 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
@ -135,11 +135,11 @@ class CarState(CarStateBase):
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("DOOR_OPEN_FL", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_FR", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_RL", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_RR", "BODY_CONTROL_STATE", 1),
("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
@ -150,7 +150,7 @@ class CarState(CarStateBase):
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("TURN_SIGNALS", "BLINKERS_STATE", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
@ -158,8 +158,8 @@ class CarState(CarStateBase):
checks = [
("GEAR_PACKET", 1),
("LIGHT_STALK", 1),
("STEERING_LEVERS", 0.15),
("SEATS_DOORS", 3),
("BLINKERS_STATE", 0.15),
("BODY_CONTROL_STATE", 3),
("ESP_CONTROL", 3),
("EPS_STATUS", 25),
("BRAKE_MODULE", 40),