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Always on Lateral

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Added toggle for Always On Lateral / No disengage lateral on gas and brake.

Lots of credit goes to "pfeiferj"! Couldn't of done it without him!

https: //github.com/pfeiferj/openpilot
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent c33e3e45db
commit 42b3636995
28 changed files with 132 additions and 18 deletions
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5
panda/board/safety/safety_toyota.h
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@@ -47,6 +47,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + ACC */ \
{0x1D3, 0, 8}, \
const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
@@ -61,6 +62,7 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
{.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
{.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
{.msg = {{0x1D3, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
{.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
{0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \
@@ -166,6 +168,9 @@ static void toyota_rx_hook(CANPacket_t *to_push) {
update_sample(&angle_meas, angle_meas_new);
}
}
if (addr == 0x1D3) {
acc_main_on = GET_BIT(to_push, 15U);
}
// enter controls on rising edge of ACC, exit controls on ACC off
// exit controls on rising edge of gas press