Toyota C-HR 2018

selfdrive/car/toyota/carcontroller.py

@@ -4,7 +4,7 @@
                                            create_steer_command, create_ui_command, \
                                            create_ipas_steer_command, create_accel_command, \
                                            create_fcw_command
-from selfdrive.car.toyota.values import ECU, STATIC_MSGS
+from selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
 from selfdrive.can.packer import CANPacker
 
 # Accel limits
@@ -106,6 +106,8 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_
     self.standstill_req = False
     self.angle_control = False
 
+    self.no_dsu = car_fingerprint in NO_DSU_CAR
+
     self.steer_angle_enabled = False
     self.ipas_reset_counter = 0
 
@@ -199,17 +201,17 @@ def update(self, sendcan, enabled, CS, frame, actuators,
     if self.angle_control:
       can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled, 
                                                  ECU.APGS in self.fake_ecus))
-    elif ECU.APGS in self.fake_ecus:
+    elif ECU.APGS in self.fake_ecus and not self.no_dsu:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
-    if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
+    if ((frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus)) and not self.no_dsu:
       if ECU.DSU in self.fake_ecus:
         can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req))
       else:
         can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
 
-    if frame % 10 == 0 and ECU.CAM in self.fake_ecus:
+    if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not self.no_dsu:
       for addr in TARGET_IDS:
         can_sends.append(create_video_target(frame/10, addr))
 

selfdrive/car/toyota/carstate.py

@@ -19,7 +19,7 @@ def parse_gear_shifter(can_gear, car_fingerprint):
     elif can_gear == 0x4:
       return "brake"
   elif car_fingerprint in [CAR.RAV4, CAR.RAV4H, 
-                           CAR.LEXUS_RXH, CAR.COROLLA]:
+                           CAR.LEXUS_RXH, CAR.COROLLA, CAR.CHR]:
     if can_gear == 0x20:
       return "park"
     elif can_gear == 0x10:

selfdrive/car/toyota/interface.py

@@ -106,6 +106,14 @@ def get_params(candidate, fingerprint):
       ret.mass = 4481 * CV.LB_TO_KG + std_cargo  # mean between min and max
       ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
+    elif candidate == CAR.CHR:
+      ret.safetyParam = 100
+      ret.wheelbase = 2.63906
+      ret.steerRatio = 13.6
+      ret.mass = 3300./2.205 + std_cargo
+      ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
+      ret.steerKf = 0.00006
+      ret.steerRateCost = 1.
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -114,7 +122,7 @@ def get_params(candidate, fingerprint):
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
-    if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
+    if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR]: # rav4 hybrid can do stop and go
       ret.minEnableSpeed = -1.
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS

selfdrive/car/toyota/radar_interface.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python
 import os
+import zmq
+import time
 from selfdrive.can.parser import CANParser
 from cereal import car
 from common.realtime import sec_since_boot
-import zmq
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging
+from selfdrive.car.toyota.values import NO_DSU_CAR
 
 
 RADAR_MSGS = range(0x210, 0x220)
@@ -30,15 +32,21 @@ def __init__(self, CP):
 
     self.delay = 0.0  # Delay of radar
 
-    # Nidec
     self.rcp = _create_radard_can_parser()
+    self.no_dsu = CP.carFingerprint in NO_DSU_CAR
 
     context = zmq.Context()
     self.logcan = messaging.sub_sock(context, service_list['can'].port)
 
   def update(self):
-    canMonoTimes = []
 
+    ret = car.RadarState.new_message()
+    if self.no_dsu:
+      # TODO: make a adas dbc file for dsu-less models
+      time.sleep(0.05)
+      return ret
+
+    canMonoTimes = []
     updated_messages = set()
     while 1:
       tm = int(sec_since_boot() * 1e9)
@@ -47,7 +55,6 @@ def update(self):
       if 0x21f in updated_messages:
         break
 
-    ret = car.RadarState.new_message()
     errors = []
     if not self.rcp.can_valid:
       errors.append("commIssue")

selfdrive/car/toyota/values.py

@@ -6,6 +6,7 @@ class CAR:
   RAV4 = "TOYOTA RAV4 2017"
   COROLLA = "TOYOTA COROLLA 2017"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
+  CHR = "TOYOTA C-HR 2018"
 
 
 class ECU:
@@ -97,6 +98,9 @@ def check_ecu_msgs(fingerprint, candidate, ecu):
   CAR.LEXUS_RXH: [{
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
   }],
+  CAR.CHR: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1056: 8, 1059: 1, 1114: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
+  }],
 }
 
 
@@ -106,4 +110,7 @@ def check_ecu_msgs(fingerprint, candidate, ecu):
   CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
   CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
+  CAR.CHR: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
 }
+
+NO_DSU_CAR = [CAR.CHR]

selfdrive/pandad.py

@@ -4,7 +4,7 @@
 from panda import ensure_st_up_to_date
 
 def main(gctx=None):
-  ensure_st_up_to_date()
+  # ensure_st_up_to_date()
 
   os.chdir("boardd")
   os.execvp("./boardd", ["./boardd"])