Add support for Lexus NX 300h 2018 (#1077)

* Add support for Lexus NX 300h 2018

* Add Lexus NX 300h 2018 to README.md

* Fix a misplaced value CAR.LEXUS_NXH in the values.py

old-commit-hash: 576317ad10

README.md

@@ -96,6 +96,7 @@ Supported Cars
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
 | Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |

selfdrive/car/toyota/interface.py

@@ -263,6 +263,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007
 
+    elif candidate == CAR.LEXUS_NXH:
+      stop_and_go = True
+      ret.safetyParam = 73
+      ret.wheelbase = 2.66
+      ret.steerRatio = 14.7
+      tire_stiffness_factor = 0.444 # not optimized yet
+      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG 
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00006      
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 

selfdrive/car/toyota/values.py

@@ -34,28 +34,29 @@ class CAR:
   LEXUS_IS = "LEXUS IS300 2018"
   LEXUS_CTH = "LEXUS CT 200H 2018"
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
+  LEXUS_NXH = "LEXUS NX300H 2018"
 
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
-  (0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
   (0x128, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
+  (0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, Ecu.dsu, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
   (0x2E6, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
   (0x2E7, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
   (0x33E, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
   (0x365, Ecu.dsu, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
   (0x366, Ecu.dsu, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
   (0x470, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
   (0x470, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 
   (0x292, Ecu.apgs, (CAR.PRIUS), 0,   3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
   (0x32E, Ecu.apgs, (CAR.PRIUS), 0,  20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
@@ -262,6 +263,9 @@ FINGERPRINTS = {
   }],
   CAR.LEXUS_CTH: [{
     36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
+  CAR.LEXUS_NXH: [{
+    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 812: 3, 818: 8, 822: 8, 824: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 889: 8, 891: 8, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 987: 8, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1006: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }]
 }
 
@@ -768,6 +772,7 @@ DBC = {
   CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]

selfdrive/test/test_car_models.py

@@ -325,6 +325,11 @@ routes = {
     'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
     'enableCamera': True,
   },
+  "ec429c0f37564e3c|2020-02-01--17-28-12": {
+    'carFingerprint': TOYOTA.LEXUS_NXH,
+    'enableCamera': True,
+    'enableDsu': False,
+  },
   #FIXME: This works sometimes locally, but never in CI. Timing issue?
   #"b0f5a01cf604185c|2018-01-31--20-11-39": {
   #  'carFingerprint': TOYOTA.LEXUS_RXH,