Toyota: remove smartDSU support (commaai#32777)

selfdrive/car/tests/routes.py

@@ -225,7 +225,6 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
-  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
   CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),

selfdrive/car/toyota/carstate.py

@@ -132,8 +132,7 @@ def update(self, cp, cp_cam):
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
     if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
-        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@@ -167,13 +166,11 @@ def update(self, cp, cp_cam):
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
       self.prev_distance_button = self.distance_button
       if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
         self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
-      else:
-        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
@@ -208,24 +205,16 @@ def get_can_parser(CP):
       messages.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not CP.flags & ToyotaFlags.SMART_DSU.value:
-        messages += [
-          ("ACC_CONTROL", 33),
-        ]
       messages += [
         ("PCS_HUD", 1),
+        ("ACC_CONTROL", 33),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       messages += [
         ("PRE_COLLISION", 33),
       ]
 
-    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      messages += [
-        ("SDSU", 100),
-      ]
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod

selfdrive/car/toyota/interface.py

@@ -44,18 +44,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     stop_and_go = candidate in TSS2_CAR
 
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
-    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
-      ret.flags |= ToyotaFlags.SMART_DSU.value
-
-    if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
-      ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
-
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
-                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
 
     if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
@@ -98,7 +89,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
     #  For now, don't list stop and go functionality in the docs
     if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
-      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
+      stop_and_go = stop_and_go or (ret.enableDsu and not docs)
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -110,28 +101,20 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
-    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
     if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
+      ret.experimentalLongitudinalAvailable = candidate in RADAR_ACC_CAR
 
-      if not use_sdsu:
-        # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR:
-          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
-      else:
-        use_sdsu = use_sdsu and experimental_long
+      # Disabling radar is only supported on TSS2 radar-ACC cars
+      if experimental_long and candidate in RADAR_ACC_CAR:
+        ret.flags |= ToyotaFlags.DISABLE_RADAR.value
 
     # openpilot longitudinal enabled by default:
-    #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
     #  - cars w/ DSU disconnected
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
     # openpilot longitudinal behind experimental long toggle:
-    #  - TSS2 radar ACC cars w/ smartDSU installed
-    #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
-    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
-    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+    #  - TSS2 radar ACC cars (disables radar)
+    ret.openpilotLongitudinalControl = ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
@@ -156,7 +139,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
+    # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
@@ -165,7 +148,7 @@ def init(CP, logcan, sendcan):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # events

selfdrive/car/toyota/values.py

@@ -44,9 +44,7 @@ def __init__(self, CP):
 class ToyotaFlags(IntFlag):
   # Detected flags
   HYBRID = 1
-  SMART_DSU = 2
   DISABLE_RADAR = 4
-  RADAR_CAN_FILTER = 1024
 
   # Static flags
   TSS2 = 8
@@ -56,7 +54,7 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  # these cars are speculated to allow stop and go when the DSU is unplugged
   SNG_WITHOUT_DSU = 512