Toyota: rename LTA torque wind down signal (#1757)

* rename setme_x64 * bump opendbc ref
commaai · Dec 5, 2023 · ea78657 · ea78657
1 parent a9af9cb
commit ea78657
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -52,7 +52,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
 ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
-ENV OPENDBC_REF="12dd7675c5ab2f49aedb813a79e6131b370b379f"
+ENV OPENDBC_REF="5b0c73977f1428700d0344d52874a90a4c5168fb"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.11.4 && \

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -178,15 +178,15 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
     // LTA steering check
     // only sent to prevent dash errors, no actuation is accepted
     if (addr == 0x191) {
-      // check the STEER_REQUEST, STEER_REQUEST_2, SETME_X64 STEER_ANGLE_CMD signals
+      // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
       bool lta_request = GET_BIT(to_send, 0U) != 0U;
       bool lta_request2 = GET_BIT(to_send, 25U) != 0U;
-      int setme_x64 = GET_BYTE(to_send, 5);
+      int torque_wind_down = GET_BYTE(to_send, 5);
       int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
       lta_angle = to_signed(lta_angle, 16);
 
       // block LTA msgs with actuation requests
-      if (lta_request || lta_request2 || (lta_angle != 0) || (setme_x64 != 0)) {
+      if (lta_request || lta_request2 || (lta_angle != 0) || (torque_wind_down != 0)) {
         tx = false;
       }
     }

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -40,8 +40,8 @@ def _torque_cmd_msg(self, torque, steer_req=1):
     values = {"STEER_TORQUE_CMD": torque, "STEER_REQUEST": steer_req}
     return self.packer.make_can_msg_panda("STEERING_LKA", 0, values)
 
-  def _lta_msg(self, req, req2, angle_cmd, setme_x64=100):
-    values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd, "SETME_X64": setme_x64}
+  def _lta_msg(self, req, req2, angle_cmd, torque_wind_down=100):
+    values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd, "TORQUE_WIND_DOWN": torque_wind_down}
     return self.packer.make_can_msg_panda("STEERING_LTA", 0, values)
 
   def _accel_msg(self, accel, cancel_req=0):
@@ -78,14 +78,14 @@ def test_block_aeb(self):
 
   # Only allow LTA msgs with no actuation
   def test_lta_steer_cmd(self):
-    for engaged, req, req2, setme_x64, angle in itertools.product([True, False],
+    for engaged, req, req2, torque_wind_down, angle in itertools.product([True, False],
                                                                   [0, 1], [0, 1],
                                                                   [0, 50, 100],
                                                                   np.linspace(-20, 20, 5)):
       self.safety.set_controls_allowed(engaged)
 
-      should_tx = not req and not req2 and angle == 0 and setme_x64 == 0
-      self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, setme_x64)))
+      should_tx = not req and not req2 and angle == 0 and torque_wind_down == 0
+      self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)))
 
   def test_rx_hook(self):
     # checksum checks