From 3125a28bf4b249dbde13d1e7645b12d3ac89b1dc Mon Sep 17 00:00:00 2001
From: crispbee <84819466+crispbee@users.noreply.github.com>
Date: Sat, 4 Mar 2023 04:27:39 -0400
Subject: [PATCH] Toyota: Add FW for 2023 RAV4 Hybrid (#27494)

* Toyota: Add FW for 2023 RAV4 Hybrid

* Set RAVH_TSS2_2022 to use angle SteerControlType
---
 selfdrive/car/toyota/interface.py | 2 +-
 selfdrive/car/toyota/values.py    | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ae0359841d..95ee141869 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -126,7 +126,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV = [0.6]
       ret.lateralTuning.pid.kiV = [0.1]
       ret.lateralTuning.pid.kf = 0.00007818594
-      if candidate == CAR.RAV4_TSS2_2022:
+      if candidate in (CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2022):
         ret.steerControlType = car.CarParams.SteerControlType.angle
 
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index a31273b6f6..3ef5289258 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1535,6 +1535,7 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
+      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
       b'8965B42182\x00\x00\x00\x00\x00\x00',
       b'8965B42172\x00\x00\x00\x00\x00\x00',
     ],
@@ -1546,12 +1547,15 @@ FW_VERSIONS = {
       b'\x01896634A62000\x00\x00\x00\x00',
       b'\x01896634A62100\x00\x00\x00\x00',
       b'\x01896634A63000\x00\x00\x00\x00',
+      b'\x01896634AE1001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R01100\x00\x00\x00\x00',
+      b'\x018821F0R03100\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
+      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
     ],
   },
   CAR.SIENNA: {