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Toyota: combine rest of hybrid platforms (#30259)

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* Highlander TSS2: merge

* Highlander TSS2: remove duplicate FW

* Highlander TSS2: merge torque params

* C-HR TSS2: merge

* Alphard TSS2: merge

* Avalon 2019: merge

* Avalon TSS2: merge

* Camry TSS2: merge

* Camry TSS-P: merge

* Camry TSS-P: remove duplicate FW

* RAV4 TSS 2022: merge

* RAV4 TSS 2023: merge

fix

* clean up tss2 car list

* fix from merge

* rename internal seg list platforms

* fix test
old-commit-hash: c626078e9d
testing-closet
Shane Smiskol 2 years ago committed by GitHub
parent 7c4d29c3d1
commit 53c51a23f7
8 changed files with 155 additions and 350 deletions
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  1. 19
      selfdrive/car/tests/routes.py
  2. 2
      selfdrive/car/tests/test_car_interfaces.py
  3. 4
      selfdrive/car/tests/test_models_segs.txt
  4. 1
      selfdrive/car/torque_data/override.yaml
  5. 13
      selfdrive/car/torque_data/params.yaml
  6. 9
      selfdrive/car/torque_data/substitute.yaml
  7. 13
      selfdrive/car/toyota/interface.py
  8. 444
      selfdrive/car/toyota/values.py

19
selfdrive/car/tests/routes.py
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@ -25,7 +25,6 @@ non_tested_cars = [
HONDA.ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
TOYOTA.RAV4_TSS2_2023,
TOYOTA.RAV4H_TSS2_2023,
SUBARU.FORESTER_HYBRID,
]
@ -168,17 +167,17 @@ routes = [
CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2), # hybrid
CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019), # hybrid
CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2), # hybrid
CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter
CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY), # hybrid
CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2), # hybrid
CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid
@ -187,7 +186,7 @@ routes = [
CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid
CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid
@ -203,7 +202,7 @@ routes = [
CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid
CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid
CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
@ -215,8 +214,8 @@ routes = [
CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR), # hybrid
CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU
CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
# CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2), # openpilot longitudinal, radar disabled
CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2), # hybrid
# CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled
CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),

2
selfdrive/car/tests/test_car_interfaces.py
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@ -133,7 +133,7 @@ class TestCarInterfaces(unittest.TestCase):
# Make sure we can combine dicts
ret = get_interface_attr('DBC', combine_brands=True)
self.assertGreaterEqual(len(ret), 170)
self.assertGreaterEqual(len(ret), 160)
# We don't support combining non-dicts
ret = get_interface_attr('CAR', combine_brands=True)

4
selfdrive/car/tests/test_models_segs.txt
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:2e57357c95937475fe92c13709ff2ee067f036643d5d455383bd9c3335525614
size 126281
oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
size 125301

1
selfdrive/car/torque_data/override.yaml
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@ -14,7 +14,6 @@ SUBARU ASCENT 2023: [.nan, 3.0, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]

13
selfdrive/car/torque_data/params.yaml
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@ -61,16 +61,13 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506]
TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615]
TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565]
TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257]
TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753]
TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436]
TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
@ -79,8 +76,8 @@ TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]

9
selfdrive/car/torque_data/substitute.yaml
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@ -4,18 +4,13 @@ MAZDA CX-5: MAZDA CX-9 2021
MAZDA CX-5 2022: MAZDA CX-9 2021
MAZDA CX-9: MAZDA CX-9 2021
TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
LEXUS IS 2018: LEXUS NX 2018
LEXUS CT HYBRID 2018 : LEXUS NX 2018
LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
LEXUS ES 2018: TOYOTA CAMRY 2018
LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
LEXUS RC 2020: LEXUS NX 2020
TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020

13
selfdrive/car/toyota/interface.py
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@ -85,28 +85,28 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHR_TSS2, CAR.CHRH_TSS2):
elif candidate in (CAR.CHR, CAR.CHR_TSS2):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
ret.tireStiffnessFactor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
ret.tireStiffnessFactor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
ret.tireStiffnessFactor = 0.8
ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
# starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON
@ -115,8 +115,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2022,
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
ret.tireStiffnessFactor = 0.7933
@ -191,7 +190,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.8
ret.mass = 4300. * CV.LB_TO_KG
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
elif candidate == CAR.ALPHARD_TSS2:
ret.wheelbase = 3.00
ret.steerRatio = 14.2
ret.tireStiffnessFactor = 0.444

444
selfdrive/car/toyota/values.py
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@ -49,26 +49,19 @@ class ToyotaFlags(IntFlag):
class CAR(StrEnum):
# Toyota
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
AVALON = "TOYOTA AVALON 2016"
AVALON_2019 = "TOYOTA AVALON 2019"
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5
AVALONH_TSS2 = "TOYOTA AVALON HYBRID 2022"
CAMRY = "TOYOTA CAMRY 2018"
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
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_TSS2 = "TOYOTA C-HR HYBRID 2022"
COROLLA = "TOYOTA COROLLA 2017"
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
HIGHLANDER = "TOYOTA HIGHLANDER 2017"
HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
PRIUS = "TOYOTA PRIUS 2017"
PRIUS_V = "TOYOTA PRIUS v 2017"
PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@ -77,8 +70,6 @@ class CAR(StrEnum):
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"
@ -111,26 +102,38 @@ class ToyotaCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
# Toyota
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
CAR.ALPHARD_TSS2: [
ToyotaCarInfo("Toyota Alphard 2019-20"),
ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
],
CAR.AVALON: [
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota Avalon 2017-18"),
],
CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"),
CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
CAR.AVALON_2019: [
ToyotaCarInfo("Toyota Avalon 2019-21"),
ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
],
CAR.AVALON_TSS2: [
ToyotaCarInfo("Toyota Avalon 2022"),
ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
],
CAR.CAMRY: [
ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
],
CAR.CAMRY_TSS2: [
ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
],
CAR.CHR: [
ToyotaCarInfo("Toyota C-HR 2017-20"),
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
],
CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
CAR.CHR_TSS2: [
ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
],
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
CAR.COROLLA_TSS2: [
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
@ -143,9 +146,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
],
CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"),
CAR.HIGHLANDER_TSS2: [
ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
],
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
CAR.PRIUS: [
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@ -168,10 +173,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
],
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
CAR.RAV4_TSS2_2022: [
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
CAR.RAV4_TSS2_2023: [
ToyotaCarInfo("Toyota RAV4 2023"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
],
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
@ -381,7 +390,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
non_essential_ecus={
# FIXME: On some models, abs can sometimes be missing
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
# On some models, the engine can show on two different addresses
Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
@ -453,44 +462,26 @@ FW_VERSIONS = {
b'F152607171\x00\x00\x00\x00\x00\x00',
b'F152607110\x00\x00\x00\x00\x00\x00',
b'F152607180\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881510703200\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B41080\x00\x00\x00\x00\x00\x00',
b'8965B07010\x00\x00\x00\x00\x00\x00',
b'8965B41090\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896630725200\x00\x00\x00\x00',
b'\x01896630725300\x00\x00\x00\x00',
b'\x01896630735100\x00\x00\x00\x00',
b'\x01896630738000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4702300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F0702100\x00\x00\x00\x00',
],
},
CAR.AVALONH_2019: {
(Ecu.abs, 0x7b0, None): [
b'F152641040\x00\x00\x00\x00\x00\x00',
b'F152641061\x00\x00\x00\x00\x00\x00',
b'F152641050\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881510703200\x00\x00\x00\x00',
b'881510704200\x00\x00\x00\x00',
b'881514107100\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B41080\x00\x00\x00\x00\x00\x00',
b'8965B07010\x00\x00\x00\x00\x00\x00',
b'8965B41090\x00\x00\x00\x00\x00\x00',
b'8965B41070\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896630725200\x00\x00\x00\x00',
b'\x01896630725300\x00\x00\x00\x00',
b'\x01896630735100\x00\x00\x00\x00',
b'\x01896630738000\x00\x00\x00\x00',
b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
@ -507,6 +498,7 @@ FW_VERSIONS = {
b'\x01F152607240\x00\x00\x00\x00\x00\x00',
b'\x01F152607250\x00\x00\x00\x00\x00\x00',
b'\x01F152607280\x00\x00\x00\x00\x00\x00',
b'F152641080\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B41110\x00\x00\x00\x00\x00\x00',
@ -514,24 +506,6 @@ FW_VERSIONS = {
(Ecu.engine, 0x700, None): [
b'\x01896630742000\x00\x00\x00\x00',
b'\x01896630743000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201200\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.AVALONH_TSS2: {
(Ecu.abs, 0x7b0, None): [
b'F152641080\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B41110\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x018966306Q6000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
@ -567,65 +541,6 @@ FW_VERSIONS = {
b'\x018966333Q6300\x00\x00\x00\x00',
b'\x018966333Q6500\x00\x00\x00\x00',
b'\x018966333W6000\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'8821F0601200 ',
b'8821F0601300 ',
b'8821F0602000 ',
b'8821F0603300 ',
b'8821F0604100 ',
b'8821F0605200 ',
b'8821F0607200 ',
b'8821F0608000 ',
b'8821F0608200 ',
b'8821F0609100 ',
],
(Ecu.abs, 0x7b0, None): [
b'F152606210\x00\x00\x00\x00\x00\x00',
b'F152606230\x00\x00\x00\x00\x00\x00',
b'F152606270\x00\x00\x00\x00\x00\x00',
b'F152606290\x00\x00\x00\x00\x00\x00',
b'F152606410\x00\x00\x00\x00\x00\x00',
b'F152633540\x00\x00\x00\x00\x00\x00',
b'F152633A10\x00\x00\x00\x00\x00\x00',
b'F152633A20\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B33540\x00\x00\x00\x00\x00\x00',
b'8965B33542\x00\x00\x00\x00\x00\x00',
b'8965B33580\x00\x00\x00\x00\x00\x00',
b'8965B33581\x00\x00\x00\x00\x00\x00',
b'8965B33621\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791
b'8821F0601200 ',
b'8821F0601300 ',
b'8821F0602000 ',
b'8821F0603300 ',
b'8821F0604100 ',
b'8821F0605200 ',
b'8821F0607200 ',
b'8821F0608000 ',
b'8821F0608200 ',
b'8821F0609100 ',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F0601200 ',
b'8646F0601300 ',
b'8646F0601400 ',
b'8646F0603400 ',
b'8646F0604100 ',
b'8646F0605000 ',
b'8646F0606000 ',
b'8646F0606100 ',
b'8646F0607100 ',
],
},
CAR.CAMRYH: {
(Ecu.engine, 0x700, None): [
b'\x018966306Q6000\x00\x00\x00\x00',
b'\x018966333N1100\x00\x00\x00\x00',
b'\x018966333N4300\x00\x00\x00\x00',
@ -648,78 +563,97 @@ FW_VERSIONS = {
b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152633214\x00\x00\x00\x00\x00\x00',
b'F152633660\x00\x00\x00\x00\x00\x00',
b'F152633712\x00\x00\x00\x00\x00\x00',
b'F152633713\x00\x00\x00\x00\x00\x00',
b'F152633B51\x00\x00\x00\x00\x00\x00',
b'F152633B60\x00\x00\x00\x00\x00\x00',
(Ecu.engine, 0x7e0, None): [
b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'8821F0601200 ',
b'8821F0601300 ',
b'8821F0603400 ',
b'8821F0604000 ',
b'8821F0602000 ',
b'8821F0603300 ',
b'8821F0604100 ',
b'8821F0604200 ',
b'8821F0605200 ',
b'8821F0606200 ',
b'8821F0607200 ',
b'8821F0608000 ',
b'8821F0608200 ',
b'8821F0609000 ',
b'8821F0609100 ',
b'8821F0603400 ',
b'8821F0604000 ',
b'8821F0604200 ',
b'8821F0606200 ',
b'8821F0609000 ',
],
(Ecu.abs, 0x7b0, None): [
b'F152606210\x00\x00\x00\x00\x00\x00',
b'F152606230\x00\x00\x00\x00\x00\x00',
b'F152606270\x00\x00\x00\x00\x00\x00',
b'F152606290\x00\x00\x00\x00\x00\x00',
b'F152606410\x00\x00\x00\x00\x00\x00',
b'F152633540\x00\x00\x00\x00\x00\x00',
b'F152633A10\x00\x00\x00\x00\x00\x00',
b'F152633A20\x00\x00\x00\x00\x00\x00',
b'F152633214\x00\x00\x00\x00\x00\x00',
b'F152633660\x00\x00\x00\x00\x00\x00',
b'F152633712\x00\x00\x00\x00\x00\x00',
b'F152633713\x00\x00\x00\x00\x00\x00',
b'F152633B51\x00\x00\x00\x00\x00\x00',
b'F152633B60\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B33540\x00\x00\x00\x00\x00\x00',
b'8965B33542\x00\x00\x00\x00\x00\x00',
b'8965B33550\x00\x00\x00\x00\x00\x00',
b'8965B33551\x00\x00\x00\x00\x00\x00',
b'8965B33580\x00\x00\x00\x00\x00\x00',
b'8965B33581\x00\x00\x00\x00\x00\x00',
b'8965B33611\x00\x00\x00\x00\x00\x00',
b'8965B33621\x00\x00\x00\x00\x00\x00',
b'8965B33550\x00\x00\x00\x00\x00\x00',
b'8965B33551\x00\x00\x00\x00\x00\x00',
b'8965B33611\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791
b'8821F0601200 ',
b'8821F0601300 ',
b'8821F0603400 ',
b'8821F0604000 ',
b'8821F0602000 ',
b'8821F0603300 ',
b'8821F0604100 ',
b'8821F0604200 ',
b'8821F0605200 ',
b'8821F0606200 ',
b'8821F0607200 ',
b'8821F0608000 ',
b'8821F0608200 ',
b'8821F0609000 ',
b'8821F0609100 ',
b'8821F0603400 ',
b'8821F0604000 ',
b'8821F0604200 ',
b'8821F0606200 ',
b'8821F0609000 ',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F0601200 ',
b'8646F0601300 ',
b'8646F0601400 ',
b'8646F0603400 ',
b'8646F0603500 ',
b'8646F0604100 ',
b'8646F0605000 ',
b'8646F0606000 ',
b'8646F0606100 ',
b'8646F0607000 ',
b'8646F0607100 ',
b'8646F0603500 ',
b'8646F0607000 ',
],
},
CAR.CAMRY_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B33630\x00\x00\x00\x00\x00\x00',
b'8965B33640\x00\x00\x00\x00\x00\x00',
b'8965B33650\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'\x01F152606370\x00\x00\x00\x00\x00\x00',
b'\x01F152606390\x00\x00\x00\x00\x00\x00',
b'\x01F152606400\x00\x00\x00\x00\x00\x00',
b'\x01F152606431\x00\x00\x00\x00\x00\x00',
b'F152633D00\x00\x00\x00\x00\x00\x00',
b'F152633D60\x00\x00\x00\x00\x00\x00',
b'F152633310\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x018966306Q5000\x00\x00\x00\x00',
@ -730,10 +664,16 @@ FW_VERSIONS = {
b'\x018966306T3200\x00\x00\x00\x00',
b'\x018966306T4000\x00\x00\x00\x00',
b'\x018966306T4100\x00\x00\x00\x00',
b'\x018966306Q6000\x00\x00\x00\x00',
b'\x018966306Q7000\x00\x00\x00\x00',
b'\x018966306T0000\x00\x00\x00\x00',
b'\x018966306V1000\x00\x00\x00\x00',
b'\x01896633T20000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201200\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
@ -743,35 +683,7 @@ FW_VERSIONS = {
b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.CAMRYH_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B33630\x00\x00\x00\x00\x00\x00',
b'8965B33650\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152633D00\x00\x00\x00\x00\x00\x00',
b'F152633D60\x00\x00\x00\x00\x00\x00',
b'F152633310\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x018966306Q6000\x00\x00\x00\x00',
b'\x018966306Q7000\x00\x00\x00\x00',
b'\x018966306T0000\x00\x00\x00\x00',
b'\x018966306V1000\x00\x00\x00\x00',
b'\x01896633T20000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 15): [
b'\x018821F6201200\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 109): [
b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.CHR: {
@ -863,13 +775,19 @@ FW_VERSIONS = {
(Ecu.abs, 0x7b0, None): [
b'F152610260\x00\x00\x00\x00\x00\x00',
b'F1526F4270\x00\x00\x00\x00\x00\x00',
b'F152610041\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B10091\x00\x00\x00\x00\x00\x00',
b'8965B10110\x00\x00\x00\x00\x00\x00',
b'8965B10092\x00\x00\x00\x00\x00\x00',
b'8965B10111\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x0189663F459000\x00\x00\x00\x00',
b'\x0189663F438000\x00\x00\x00\x00',
b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
@ -877,33 +795,12 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821FF410200\x00\x00\x00\x00',
b'\x018821FF410300\x00\x00\x00\x00',
b'\x018821FF410500\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
],
},
CAR.CHRH_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B10092\x00\x00\x00\x00\x00\x00',
b'8965B10091\x00\x00\x00\x00\x00\x00',
b'8965B10111\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',
b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 15): [
b'\x018821FF410500\x00\x00\x00\x00',
b'\x018821FF410300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 109): [
b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
],
},
CAR.COROLLA: {
@ -1189,6 +1086,18 @@ FW_VERSIONS = {
b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
b'\x01F15260E05300\x00\x00\x00\x00',
b'\x01F15264872300\x00\x00\x00\x00',
b'\x01F15264872400\x00\x00\x00\x00',
b'\x01F15264872500\x00\x00\x00\x00',
b'\x01F15264872600\x00\x00\x00\x00',
b'\x01F15264872700\x00\x00\x00\x00',
b'\x01F15264873500\x00\x00\x00\x00',
b'\x01F152648C6300\x00\x00\x00\x00',
b'\x01F152648J4000\x00\x00\x00\x00',
b'\x01F152648J5000\x00\x00\x00\x00',
b'\x01F152648J6000\x00\x00\x00\x00',
b'\x01F152648J7000\x00\x00\x00\x00',
b'\x01F152648L5000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896630E62100\x00\x00\x00\x00',
@ -1209,41 +1118,6 @@ FW_VERSIONS = {
b'\x01896630EE1100\x00\x00\x00\x00',
b'\x01896630EG3000\x00\x00\x00\x00',
b'\x01896630EG5000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301400\x00\x00\x00\x00',
b'\x018821F6201200\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.HIGHLANDERH_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B48241\x00\x00\x00\x00\x00\x00',
b'8965B48310\x00\x00\x00\x00\x00\x00',
b'8965B48320\x00\x00\x00\x00\x00\x00',
b'8965B48400\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'\x01F15264872300\x00\x00\x00\x00',
b'\x01F15264872400\x00\x00\x00\x00',
b'\x01F15264872500\x00\x00\x00\x00',
b'\x01F15264872600\x00\x00\x00\x00',
b'\x01F15264872700\x00\x00\x00\x00',
b'\x01F15264873500\x00\x00\x00\x00',
b'\x01F152648C6300\x00\x00\x00\x00',
b'\x01F152648J4000\x00\x00\x00\x00',
b'\x01F152648J5000\x00\x00\x00\x00',
b'\x01F152648J6000\x00\x00\x00\x00',
b'\x01F152648J7000\x00\x00\x00\x00',
b'\x01F152648L5000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896630E67000\x00\x00\x00\x00',
b'\x01896630EA1000\x00\x00\x00\x00',
b'\x01896630EE4000\x00\x00\x00\x00',
@ -1638,46 +1512,6 @@ FW_VERSIONS = {
(Ecu.abs, 0x7b0, None): [
b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634AA0000\x00\x00\x00\x00',
b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA1000\x00\x00\x00\x00',
b'\x01896634A88000\x00\x00\x00\x00',
b'\x01896634A89000\x00\x00\x00\x00',
b'\x01896634A89100\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R01100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.RAV4_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634A88100\x00\x00\x00\x00',
b'\x01896634AJ2000\x00\x00\x00\x00',
b'\x01896634A89100\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R03100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2_2022: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15264283100\x00\x00\x00\x00',
b'\x01F15264286200\x00\x00\x00\x00',
b'\x01F15264286100\x00\x00\x00\x00',
@ -1689,6 +1523,12 @@ FW_VERSIONS = {
b'8965B42172\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634AA0000\x00\x00\x00\x00',
b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA1000\x00\x00\x00\x00',
b'\x01896634A88000\x00\x00\x00\x00',
b'\x01896634A89000\x00\x00\x00\x00',
b'\x01896634A89100\x00\x00\x00\x00',
b'\x01896634A02001\x00\x00\x00\x00',
b'\x01896634A03000\x00\x00\x00\x00',
b'\x01896634A08000\x00\x00\x00\x00',
@ -1704,8 +1544,9 @@ FW_VERSIONS = {
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2_2023: {
CAR.RAV4_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
b'\x01F15264283200\x00\x00\x00\x00',
b'\x01F15264283300\x00\x00\x00\x00',
b'\x01F152642F1000\x00\x00\x00\x00',
@ -1715,15 +1556,12 @@ FW_VERSIONS = {
b'8965B42371\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634A88100\x00\x00\x00\x00',
b'\x01896634AJ2000\x00\x00\x00\x00',
b'\x01896634A89100\x00\x00\x00\x00',
b'\x01896634AE1001\x00\x00\x00\x00',
b'\x01896634AF0000\x00\x00\x00\x00',
],
(Ecu.hybrid, 0x7d2, None): [
b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
b'\x028998342C6000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R03100\x00\x00\x00\x00',
],
@ -2182,34 +2020,22 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B58040\x00\x00\x00\x00\x00\x00',
b'8965B58052\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301200\x00\x00\x00\x00',
b'\x018821F3301400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
],
},
CAR.ALPHARDH_TSS2: {
(Ecu.engine, 0x7e0, None): [
b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B58040\x00\x00\x00\x00\x00\x00',
b'8965B58052\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152658341\x00\x00\x00\x00\x00\x00'
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301200\x00\x00\x00\x00',
b'\x018821F3301400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
],
},
@ -2229,20 +2055,14 @@ DBC = {
CAR.LEXUS_RX_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_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'),
CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.AVALONH_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
@ -2254,14 +2074,11 @@ DBC = {
CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
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.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
}
# These cars have non-standard EPS torque scale factors. All others are 73
@ -2269,20 +2086,19 @@ 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.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2,
CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY, CAR.CAMRYH}
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}
# 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.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
# these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
# no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}

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