Toyota: ACCSTBK

[Irene]

This needs to be further validated

There's an 1 bit signal in 466 that's defined as ACC_BRAKING in opendbc, however in the leaked dbc this is 3 bits, and it's named ACCSTBK, I believe this corresponds with "Cruise Request Driving Force Feedback Status" in Toyota's repair manuals, with the available conditions being:

• No Control (0)
• Suspend (1, when stopped)
• Neg Calc Prohibited (2, gas pressed)
• Pos Calc Prohibited (haven't seen)
• Normal (4)
• Increasing at Start (haven't seen)

I believe this is potentially useful in compensating for Toyota's PCM when openpilot is controlling long, in my experiments with PCM compensation (similar to that in commaai/openpilot#29481), it has come to my attention that the vehicle will creep forward if the compensation isn't terminated when the vehicle is stopping; similarly, if the accelerator pedal is depressed and released during ACC, the vehicle will brake first before accelerating.

Leaked DBC:

BO_ 466 ENG2F04: 8 CGW
 SG_ XLDR : 7|1@0+ (1,0) [0|0] "" DS1
 SG_ XACCACTV : 6|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ XACCACT : 5|1@0+ (1,0) [0|0] "" DS1,FCM
 SG_ XPAIDLV : 4|1@0+ (1,0) [0|0] "" DS1
 SG_ XPAIDL : 3|1@0+ (1,0) [0|0] "" DS1
 SG_ BHOK : 2|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ RQBH : 1|2@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCSTAT : 15|3@0+ (1,0) [0|0] "" DS1
 SG_ ACCSTBK : 12|3@0+ (1,0) [0|0] "" Vector__XXX
 SG_ STPBZ : 9|1@0+ (1,0) [0|0] "" DS1,FCM
 SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1
 SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX
 SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1
 SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ SM1D2 : 63|8@0+ (1,0) [0|0] "" DS1,FCM

opendbc generator:

BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
 SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

[Irene]

closing, doesn't seem to match stat in toyota gts