Merge pull request #1 from PenitentTangent2401/distance

Toyota: Add following distance button for SecOC Long
commaai · Dec 31, 2024 · 0a0e2db · 0a0e2db
2 parents fc029da + 75fcf63
commit 0a0e2db
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Showing 4 changed files with 999 additions and 4 deletions.
diff --git a/opendbc/car/toyota/carstate.py b/opendbc/car/toyota/carstate.py
@@ -8,7 +8,8 @@
 from opendbc.car.common.numpy_fast import mean
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
-                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
+                                                  SECOC_CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
@@ -186,7 +187,10 @@ def update(self, can_parsers) -> structs.CarState:
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
       prev_distance_button = self.distance_button
-      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      if self.CP.carFingerprint in (SECOC_CAR):
+        self.distance_button = cp.vl["ACC_CONTROL_3"]["DISTANCE"]
+      else:
+        self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
 
       ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
@@ -214,6 +218,7 @@ def get_can_parsers(CP):
         ("GEAR_PACKET_HYBRID", 60),
         ("SECOC_SYNCHRONIZATION", 10),
         ("GAS_PEDAL", 42),
+        ("ACC_CONTROL_3", 1),
       ]
     else:
       pt_messages.append(("VSC1S07", 20))

diff --git a/opendbc/car/toyota/values.py b/opendbc/car/toyota/values.py
@@ -255,7 +255,7 @@ class CAR(Platforms):
     # [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     [],
     CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
-    dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+    dbc_dict('toyota_secoc_generated', 'toyota_tss2_adas'),
     flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
   )
   TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
@@ -273,7 +273,7 @@ class CAR(Platforms):
     # [ToyotaCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     [],
     CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
-    dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+    dbc_dict('toyota_secoc_generated', 'toyota_tss2_adas'),
     flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
   )