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Toyota: Add SECOC longitudinal control #1385

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Toyota: Add SECOC longitudinal control #1385

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b464ceb
Add secoc ACC command
chrispypatt Oct 18, 2024
ce6b289
Remove commented out secoc long disable code
chrispypatt Oct 18, 2024
9d7aeb5
Merge branch 'commaai:master' into secoc-long
chrispypatt Oct 18, 2024
490067a
Add Toyota 2021 SecOC route
chrispypatt Oct 19, 2024
b4c0dfe
Merge branch 'commaai:master' into secoc-long
chrispypatt Nov 2, 2024
a80efda
Send 0 accel for ACC_CONTROL to match stock
chrispypatt Nov 2, 2024
e40e36b
Merge branch 'commaai:master' into secoc-long
chrispypatt Nov 2, 2024
c5aec84
Update opendbc/car/toyota/carcontroller.py
chrispypatt Nov 5, 2024
27d7ff1
Merge branch 'commaai:master' into secoc-long
chrispypatt Nov 5, 2024
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1 change: 1 addition & 0 deletions opendbc/car/tests/routes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -207,6 +207,7 @@ class CarTestRoute(NamedTuple):
CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2), # hybrid
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid
CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC
CarTestRoute("41ba5b181f29435d/00000075--b8cdba16c8", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC
CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN), # SecOC
CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid
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15 changes: 14 additions & 1 deletion opendbc/car/toyota/carcontroller.py
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Expand Up @@ -51,6 +51,7 @@ def __init__(self, dbc_name, CP):

self.secoc_lka_message_counter = 0
self.secoc_lta_message_counter = 0
self.secoc_acc_message_counter = 0
self.secoc_prev_reset_counter = 0
self.secoc_mismatch_counter = 0

Expand All @@ -68,6 +69,7 @@ def update(self, CC, CS, now_nanos):
if CS.secoc_synchronization['RESET_CNT'] != self.secoc_prev_reset_counter:
self.secoc_lka_message_counter = 0
self.secoc_lta_message_counter = 0
self.secoc_acc_message_counter = 0
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self.secoc_prev_reset_counter = CS.secoc_synchronization['RESET_CNT']

expected_mac = build_sync_mac(self.secoc_key, int(CS.secoc_synchronization['TRIP_CNT']), int(CS.secoc_synchronization['RESET_CNT']))
Expand Down Expand Up @@ -210,8 +212,19 @@ def update(self, CC, CS, now_nanos):
# internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0

can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
CS.acc_type, fcw_alert, self.distance_button))
if self.CP.flags & ToyotaFlags.SECOC.value:
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
acc_cmd_2 = add_mac(self.secoc_key,
int(CS.secoc_synchronization['TRIP_CNT']),
int(CS.secoc_synchronization['RESET_CNT']),
self.secoc_acc_message_counter,
acc_cmd_2)
self.secoc_acc_message_counter += 1
can_sends.append(acc_cmd_2)

self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button))
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9 changes: 3 additions & 6 deletions opendbc/car/toyota/interface.py
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Expand Up @@ -117,12 +117,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
# openpilot longitudinal behind experimental long toggle:
# - TSS2 radar ACC cars (disables radar)

if ret.flags & ToyotaFlags.SECOC.value:
ret.openpilotLongitudinalControl = False
else:
ret.openpilotLongitudinalControl = ret.enableDsu or \
candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
ret.openpilotLongitudinalControl = 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

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5 changes: 5 additions & 0 deletions opendbc/car/toyota/toyotacan.py
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Expand Up @@ -55,6 +55,11 @@ def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_r
}
return packer.make_can_msg("ACC_CONTROL", 0, values)

def create_accel_command_2(packer, accel):
values = {
"ACCEL_CMD": accel,
}
return packer.make_can_msg("ACC_CONTROL_2", 0, values)

def create_pcs_commands(packer, accel, active, mass):
values1 = {
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