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Add support to 2017 Lexus is300h (AVE30R) #536

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eFiniLan commented Feb 22, 2019

Accidentally deleted my original branch:

Rick Lan and others added some commits Aug 30, 2018

Rick Lan
Merge branch 'devel-lexus-ish-ave30r' of https://github.com/EternityL…
…an/openpilot into devel-lexus-ish-ave30r

# Conflicts:
#	selfdrive/car/toyota/interface.py
Rick Lan
Merge branch 'devel' of https://github.com/commaai/openpilot into dev…
…el-lexus-ish-ave30r

# Conflicts:
#	selfdrive/boardd/boardd.cc
#	selfdrive/car/toyota/interface.py
#	selfdrive/car/toyota/values.py
Rick Lan
Rick Lan
Merge branch 'devel' of https://github.com/commaai/openpilot into dev…
…el-lexus-ish-ave30r

# Conflicts:
#	selfdrive/car/toyota/interface.py
Rick Lan
Rick Lan

eFiniLan added some commits Feb 17, 2019

Merge branch 'devel' of https://github.com/commaai/openpilot into dev…
…el-lexus-ish-ave30r

# Conflicts:
#	selfdrive/car/toyota/interface.py

eFiniLan added some commits Feb 22, 2019

Merge branch 'devel-lexus-ish-ave30r' of https://github.com/eFiniLan/…
…openpilot into devel-lexus-ish-ave30r

# Conflicts:
#	selfdrive/car/toyota/carstate.py
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quillford commented Feb 23, 2019

so the IS has some peculiarities because the cruise stalk is wired to the DSU instead of the PCM like the supported toyotas/lexuses.

Does this cancel when the gas is pressed? I found a cancel request in the PCM_CRUISE msg which I had to use in my IS port.

I also suspect that the signal we're both using for speed is a UI msg and doesn't have a fixed unit, so before this is upstreamed this should check whether the car is set for km or miles.

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eFiniLan commented Feb 23, 2019

so the IS has some peculiarities because the cruise stalk is wired to the DSU instead of the PCM like the supported toyotas/lexuses.

Does this cancel when the gas is pressed? I found a cancel request in the PCM_CRUISE msg which I had to use in my IS port.

I also suspect that the signal we're both using for speed is a UI msg and doesn't have a fixed unit, so before this is upstreamed this should check whether the car is set for km or miles.

@quillford, do you mean the OP cancelled when the gas is pressed? I don't think you need another message to detect that part as OP handles that

if (ret.gasPressed and not self.gas_pressed_prev) or \

the unit change is a good idea, I guess we can use UI_SEETING to detect the unit. :)

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quillford commented Feb 23, 2019

@eFiniLan does your IS cancel the acc when the gas is pressed? since this is a lat only port, longitudinal control is handled by the stock system. stock ACC on the IS doesn't use 0x343 but openpilot does for cancellation. hence, the use of the cancel request signal in PCM_CRUISE.

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eFiniLan commented Feb 23, 2019

@quillford ah I see what you are trying to do there after reading your branch, not sure if that's a good idea or not to spam 0x1d2 to cancel ACC though, OP spam 0x343 to cancel cruise control since it's for cruise control, but 0x1d2 to me has messages more than just cruise control, I'm just afraid it will have side effects.

UI_SEETING does not tell us what unit the car is using, so need to find other ways :/ I'll leave the PR as is now since it's working perfectly.

speaking of which have you figure out a way to enable OP long control yet?

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quillford commented Feb 24, 2019

I have two solutions that should work but haven't had time to implement them yet. most straightforward solution is to add some hardware like a panda with firmware that would make the IS look more like the supported toyotas where set speed, main on, etc. is handled by the pcm.

eFiniLan added some commits Feb 27, 2019

Show resolved Hide resolved selfdrive/car/toyota/carstate.py Outdated
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Show resolved Hide resolved selfdrive/car/toyota/carstate.py Outdated

eFiniLan added some commits Mar 12, 2019

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legonigel commented Mar 12, 2019

Can you please provide a cabana or explorer link for a drive using the latest commit, and a link with the system in stock mode for us to verify. Otherwise this is looking pretty good.

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eFiniLan commented Mar 15, 2019

Can you please provide a cabana or explorer link for a drive using the latest commit, and a link with the system in stock mode for us to verify. Otherwise this is looking pretty good.

@legonigel thanks! 👍

Please see the cabana log below and let me know if you need a longer records :)

Stock: [REDACTED]

EON: [REDACTED]

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