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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/car/toyota/values.py

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class CAR:
PRIUS = "TOYOTA PRIUS 2017"
RAV4H = "TOYOTA RAV4 2017 HYBRID"
RAV4 = "TOYOTA RAV4 2017"
class ECU:
CAM = 0 # camera
DSU = 1 # driving support unit
APGS = 2 # advanced parking guidance system
# addr, [ecu, bus, 1/freq*100, vl]
STATIC_MSGS = {0x141: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 2, '\x00\x00\x00\x46'),
0x128: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
0x292: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
0x283: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
0x2E6: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
0x2E7: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
0x240: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x241: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x244: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x245: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
0x248: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
0x344: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
0x160: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
0x161: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),
0x32E: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
0x33E: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
0x365: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
0x365: (ECU.DSU, (CAR.RAV4,), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
0x366: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
0x366: (ECU.DSU, (CAR.RAV4,), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),
0x367: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 40, '\x06\x00'),
0x414: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
0x489: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
0x48a: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
0x48b: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
0x4d3: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
0x130: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
0x466: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
0x396: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
0x43A: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
0x43B: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
0x497: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
0x4CC: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
0x4CB: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
0x470: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 1, 100, '\x00\x00\x02\x7a'),
}
def check_ecu_msgs(fingerprint, candidate, ecu):
# return True if fingerprint contains messages normally sent by a given ecu
ecu_msgs = [x for x in STATIC_MSGS if (ecu == STATIC_MSGS[x][0] and
candidate in STATIC_MSGS[x][1] and
STATIC_MSGS[x][2] == 0)]
return any(msg for msg in fingerprint if msg in ecu_msgs)