properly set unsafe_mode = 1 for UNSAFE_DISABLE_DISENGAGE_ON_GAS (com…

…maai#215) * properly set unsafe_mode = 1 for UNSAFE_DISABLE_DISENGAGE_ON_GAS * change log * change safety param to better align STEER_TORQUE_EPS and STEER_TORQUE_CMD * update version
debugged-tech · Sep 15, 2020 · 12b9608 · 12b9608
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Showing 7 changed files with 12 additions and 5 deletions.
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# Stock Additions v0.5.2 (0.7.7)
+# Stock Additions v0.5.3 (0.7.7)
 
 Stock Additions is a fork of openpilot designed to be minimal in design while boasting various feature additions and behavior improvements over stock. I have a 2017 Toyota Corolla with comma pedal, so most of my changes are designed to improve the longitudinal performance.
 

diff --git a/SA_RELEASES.md b/SA_RELEASES.md
@@ -1,3 +1,7 @@
+Stock Additions v0.5.3 - 2020-9-15 (0.7.7)
+===
+ * Properly set unsafe_mode in boardd. This might fix panda flashing issues for new users, since it won't be required
+
 Stock Additions v0.5.2 - 2020-9-11 (0.7.7)
 ===
  * Fix jerking after dynamic camera offset is complete, it now smoothly ramps back to center

diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -375,7 +375,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.87,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h
@@ -132,7 +132,7 @@ struct sample_t angle_meas;         // last 3 steer angles
 // See ISO 15622:2018 for more information.
 #define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
 
-int unsafe_mode = 1;
+int unsafe_mode = 0;
 
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -126,6 +126,9 @@ void *safety_setter_thread(void *s) {
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
+  LOGW("setting unsafe_mode for gas press");
+  libusb_control_transfer(dev_handle, 0x40, 0xdf, 9, 0, NULL, 0, TIMEOUT);
+
   int safety_model = int(car_params.getSafetyModel());
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", safety_model, safety_param);

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -103,7 +103,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
 
     elif candidate == CAR.COROLLA:
       stop_and_go = False
-      ret.safetyParam = 100
+      ret.safetyParam = 87
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet

diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.7.7 - SA v0.5.2"
+#define COMMA_VERSION "0.7.7 - SA v0.5.3"