diff --git a/RELEASES.md b/RELEASES.md index 1d88480278..ec1e67e3a7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -13,6 +13,7 @@ Version 0.9.5 (2023-11-16) * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Kia Optima Hybrid 2019 support +* Lexus GS F 2016 support thanks to snyperifle! * Lexus IS 2023 support thanks to L3R5! Version 0.9.4 (2023-07-27) diff --git a/docs/CARS.md b/docs/CARS.md index 769099cea7..d8de1491f5 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 device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 267 Supported Cars +# 268 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -153,6 +153,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8cf5f3debd..dc9fa32b97 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -193,6 +193,7 @@ routes = [ CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), + CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 29e616b102..12b483cfa7 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -63,6 +63,7 @@ HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1] KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1] +LEXUS GS F 2016: [2.5, 2.5, 0.08] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 42ab5cf257..9cf86d69ab 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -163,6 +163,12 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + elif candidate == CAR.LEXUS_GS_F: + ret.wheelbase = 2.84988 + ret.steerRatio = 13.3 + ret.tireStiffnessFactor = 0.444 + ret.mass = 4034. * CV.LB_TO_KG + elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.wheelbase = 2.60 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index c2649b2c2b..cd79ef0cf7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -86,6 +86,7 @@ class CAR(StrEnum): LEXUS_RX = "LEXUS RX 2016" LEXUS_RXH = "LEXUS RX HYBRID 2017" LEXUS_RX_TSS2 = "LEXUS RX 2020" + LEXUS_GS_F = "LEXUS GS F 2016" class Footnote(Enum): @@ -194,6 +195,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), + CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"), CAR.LEXUS_NX: [ ToyotaCarInfo("Lexus NX 2018-19"), ToyotaCarInfo("Lexus NX Hybrid 2018-19"), @@ -1717,6 +1719,26 @@ FW_VERSIONS = { b'8646F3302200\x00\x00\x00\x00', ], }, + CAR.LEXUS_GS_F: { + (Ecu.engine, 0x7E0, None): [ + b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152630700\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881513016200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B30551\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F3002100\x00\x00\x00\x00', + ], + }, CAR.LEXUS_NX: { (Ecu.engine, 0x700, None): [ b'\x01896637850000\x00\x00\x00\x00', @@ -2081,6 +2103,7 @@ DBC = { CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), } # These cars have non-standard EPS torque scale factors. All others are 73 @@ -2094,7 +2117,7 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_T NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} # the DSU uses the AEB message for longitudinal on these cars -UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} +UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F} # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}