Toyota: Separate DBC generator include for certain ADAS messages (#1617)

* Toyota: Separate generator include for ADAS messages * put LTA back where it was
commaai · Jan 10, 2025 · 6f4a4ad · 6f4a4ad
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diff --git a/opendbc/dbc/generator/toyota/_toyota_2017.dbc b/opendbc/dbc/generator/toyota/_toyota_2017.dbc
@@ -136,17 +136,6 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 7 DSU
- SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
- SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
- SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
- SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
@@ -155,14 +144,6 @@ BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
-BO_ 740 STEERING_LKA: 5 XXX
- SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 742 LEAD_INFO: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
  SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
@@ -210,15 +191,6 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
  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
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -481,9 +453,6 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
-CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch";
 CM_ SG_ 800 ACCEL "filtered ego acceleration";
 CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
@@ -557,7 +526,6 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
 VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";

diff --git a/opendbc/dbc/generator/toyota/_toyota_adas_standard.dbc b/opendbc/dbc/generator/toyota/_toyota_adas_standard.dbc
@@ -0,0 +1,33 @@
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|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
+
+CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
diff --git a/opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc b/opendbc/dbc/generator/toyota/toyota_new_mc_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc";
+CM_ "IMPORT _toyota_adas_standard.dbc";
 
 BO_ 548 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX

diff --git a/opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc b/opendbc/dbc/generator/toyota/toyota_nodsu_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc";
+CM_ "IMPORT _toyota_adas_standard.dbc";
 
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

diff --git a/opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc b/opendbc/dbc/generator/toyota/toyota_tnga_k_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc";
+CM_ "IMPORT _toyota_adas_standard.dbc";
 
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX