diff --git a/RELEASES.md b/RELEASES.md index cce7207ab0..29fa14aad4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -13,6 +13,7 @@ Version 0.9.1 (2023-2-20) * Kia Sorento 2022-23 support thanks to sunnyhaibin! * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Toyota C-HR 2021 support thanks to eFiniLan! +* Toyota C-HR Hybrid 2022 support thanks to Korben00! * Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607! Version 0.9.0 (2022-11-21) diff --git a/docs/CARS.md b/docs/CARS.md index be4163d457..74e64b969f 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. -# 235 Supported Cars +# 236 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -178,6 +178,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|C-HR Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 98db2520c3..a4d2f55581 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -182,6 +182,7 @@ routes = [ 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("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 1ac43efc39..61243424f0 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -9,6 +9,7 @@ TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022 TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018 +TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021 LEXUS IS 2018: LEXUS NX 2018 LEXUS CT HYBRID 2018 : LEXUS NX 2018 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a09b0e5265..8b3fd048d9 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, CAR.CHR_TSS2): + elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_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 b28059ae23..b6a556438d 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -51,6 +51,7 @@ class CAR: CHR = "TOYOTA C-HR 2018" CHR_TSS2 = "TOYOTA C-HR 2021" CHRH = "TOYOTA C-HR HYBRID 2018" + CHRH_TSS2 = "TOYOTA C-HR HYBRID 2022" COROLLA = "TOYOTA COROLLA 2017" COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid @@ -119,6 +120,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { 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.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2022"), CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), @@ -712,6 +714,23 @@ FW_VERSIONS = { b'8646FF407000 ', ], }, + CAR.CHRH_TSS2: { + (Ecu.eps, 0x7a1, None): [ + b'8965B10092\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152610041\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x0189663F438000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 15): [ + b'\x018821FF410500\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 109): [ + b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', + ], + }, CAR.COROLLA: { (Ecu.engine, 0x7e0, None): [ b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -2058,6 +2077,7 @@ DBC = { 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.CHRH_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2099,7 +2119,7 @@ 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.CHR_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, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2107,9 +2127,9 @@ 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, CAR.CHR_TSS2} +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_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, +EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, 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, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}