openpilot v0.4.1 tweaks

Author: geohot

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.4.1 (2018-01-30)
+==========================
+ * Add alpha support for 2017 Toyota Corolla
+ * Add alpha support for Grey Panda
+ * Refactored car abstraction layer to make car ports easier
+
 Version 0.4.0.2 (2018-01-18)
 ==========================
  * Add focus adjustment slider

selfdrive/car/toyota/carstate.py

@@ -74,6 +74,7 @@ def get_can_parser(CP):
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
+    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
   checks = [
@@ -167,3 +168,4 @@ def update(self, cp):
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
     self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
+    self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])

selfdrive/car/toyota/interface.py

@@ -201,7 +201,7 @@ def update(self, c):
     ret.steeringAngle = self.CS.angle_steers
     ret.steeringRate = self.CS.angle_steers_rate
 
-    ret.steeringTorque = 0
+    ret.steeringTorque = self.CS.steer_torque_driver
     ret.steeringPressed = self.CS.steer_override
 
     # cruise state
@@ -238,6 +238,8 @@ def update(self, c):
     ret.doorOpen = not self.CS.door_all_closed
     ret.seatbeltUnlatched = not self.CS.seatbelt
 
+    ret.genericToggle = self.CS.generic_toggle
+
     # events
     events = []
     if not self.CS.can_valid: