diff --git a/docs/CARS.md b/docs/CARS.md
index c48698b84f..b73f09334d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
-# 233 Supported Cars
+# 234 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -174,7 +174,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[](##)|[](##)|Toyota||
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index ce38eeb0de..535d3f5415 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -179,6 +179,7 @@ routes = [
CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
+ CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 8e180e2301..438a9c11fc 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
- elif candidate in (CAR.CHR, CAR.CHRH):
+ elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3046814fac..7e801990a7 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -49,6 +49,7 @@ class CAR:
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5
CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021"
CHR = "TOYOTA C-HR 2018"
+ CHR_TSS2 = "TOYOTA C-HR 2021"
CHRH = "TOYOTA C-HR HYBRID 2018"
COROLLA = "TOYOTA COROLLA 2017"
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
@@ -115,7 +116,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
- CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
+ CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
+ CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
CAR.COROLLA_TSS2: [
@@ -633,6 +635,23 @@ FW_VERSIONS = {
b'8646FF407000 ',
],
},
+ CAR.CHR_TSS2: {
+ (Ecu.abs, 0x7b0, None): [
+ b'F1526F4270\x00\x00\x00\x00\x00\x00',
+ ],
+ (Ecu.eps, 0x7a1, None): [
+ b'8965B10091\x00\x00\x00\x00\x00\x00',
+ ],
+ (Ecu.engine, 0x700, None): [
+ b'\x0189663F459000\x00\x00\x00\x00',
+ ],
+ (Ecu.fwdRadar, 0x750, 0xf): [
+ b'\x018821FF410300\x00\x00\x00\x00',
+ ],
+ (Ecu.fwdCamera, 0x750, 0x6d): [
+ b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
+ ],
+ },
CAR.CHRH: {
(Ecu.engine, 0x700, None): [
b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -2030,6 +2049,7 @@ DBC = {
CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+ CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.CHRH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
@@ -2072,7 +2092,7 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
- CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
+ CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
@@ -2080,7 +2100,7 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
# these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
+RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,