Toyota: add another acceleration request signal (#1245)

* add new signal

* set minmax

* better comments

* clarify

opendbc/dbc/generator/toyota/_toyota_2017.dbc

@@ -219,6 +219,7 @@ BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
  SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX
 
 BO_ 869 DSU_CRUISE : 7 DSU
  SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
@@ -464,7 +465,7 @@ CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 119 FDRV "force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
 CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect";
@@ -491,6 +492,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
+CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force";
 CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";

opendbc/dbc/toyota_new_mc_pt_generated.dbc

@@ -223,6 +223,7 @@ BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
  SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX
 
 BO_ 869 DSU_CRUISE : 7 DSU
  SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
@@ -468,7 +469,7 @@ CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 119 FDRV "force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
 CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect";
@@ -495,6 +496,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
+CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force";
 CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";

opendbc/dbc/toyota_nodsu_pt_generated.dbc

@@ -223,6 +223,7 @@ BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
  SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX
 
 BO_ 869 DSU_CRUISE : 7 DSU
  SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
@@ -468,7 +469,7 @@ CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 119 FDRV "force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
 CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect";
@@ -495,6 +496,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
+CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force";
 CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";

opendbc/dbc/toyota_tnga_k_pt_generated.dbc

@@ -223,6 +223,7 @@ BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
  SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX
 
 BO_ 869 DSU_CRUISE : 7 DSU
  SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
@@ -468,7 +469,7 @@ CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 119 FDRV "force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
 CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
-CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect";
@@ -495,6 +496,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
+CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force";
 CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";