Toyota: AEB actuation setup (#1227)

* try this * cleanup * lil more --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
commaai · Sep 7, 2024 · ef7102a · ef7102a
1 parent c0a9ab5
commit ef7102a
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diff --git a/opendbc/car/toyota/toyotacan.py b/opendbc/car/toyota/toyotacan.py
@@ -49,6 +49,29 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
   return packer.make_can_msg("ACC_CONTROL", 0, values)
 
 
+def create_pcs_commands(packer, accel, active, mass):
+  values1 = {
+    "COUNTER": 0,
+    "FORCE": round(min(accel, 0) * mass * 2),
+    "STATE": 3 if active else 0,
+    "BRAKE_STATUS": 0,
+    "PRECOLLISION_ACTIVE": 1 if active else 0,
+  }
+  msg1 = packer.make_can_msg("PRE_COLLISION", 0, values1)
+
+  values2 = {
+    "DSS1GDRV": min(accel, 0),     # accel
+    "PCSALM": 1 if active else 0,  # goes high same time as PRECOLLISION_ACTIVE
+    "IBTRGR": 1 if active else 0,  # unknown
+    "PBATRGR": 1 if active else 0, # noisy actuation bit?
+    "PREFILL": 1 if active else 0, # goes on and off before DSS1GDRV
+    "AVSTRGR": 1 if active else 0,
+  }
+  msg2 = packer.make_can_msg("PRE_COLLISION_2", 0, values2)
+
+  return [msg1, msg2]
+
+
 def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,

diff --git a/opendbc/dbc/generator/toyota/_toyota_2017.dbc b/opendbc/dbc/generator/toyota/_toyota_2017.dbc
@@ -199,6 +199,12 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 BO_ 865 CLUTCH: 8 XXX

diff --git a/opendbc/dbc/toyota_new_mc_pt_generated.dbc b/opendbc/dbc/toyota_new_mc_pt_generated.dbc
@@ -203,6 +203,12 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 BO_ 865 CLUTCH: 8 XXX

diff --git a/opendbc/dbc/toyota_nodsu_pt_generated.dbc b/opendbc/dbc/toyota_nodsu_pt_generated.dbc
@@ -203,6 +203,12 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 BO_ 865 CLUTCH: 8 XXX

diff --git a/opendbc/dbc/toyota_tnga_k_pt_generated.dbc b/opendbc/dbc/toyota_tnga_k_pt_generated.dbc
@@ -203,6 +203,12 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 BO_ 865 CLUTCH: 8 XXX