Toyota: Wildlander Plug-in Hybrid 2021 support (#165)

opendbc/car/tests/routes.py

@@ -38,6 +38,7 @@ non_tested_cars = [
   HYUNDAI.KIA_SELTOS_2023_NON_SCC,
   HYUNDAI.GENESIS_G70_2021_NON_SCC,
   HONDA.HONDA_CLARITY,
+  TOYOTA.TOYOTA_WILDLANDER,
 ]
 
 

opendbc/car/torque_data/substitute.toml

@@ -97,3 +97,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_BAYON_1ST_GEN_NON_SCC" = "HYUNDAI_SONATA"
 "HONDA_CLARITY" = "HONDA_CIVIC"
+"TOYOTA_WILDLANDER" = "TOYOTA_RAV4_TSS2"

opendbc/car/toyota/fingerprints.py

@@ -2,6 +2,9 @@
 from opendbc.car.structs import CarParams
 from opendbc.car.toyota.values import CAR
 
+from opendbc.sunnypilot.car.fw_versions_ext import merge_fw_versions
+from opendbc.sunnypilot.car.toyota.fingerprints_ext import FW_VERSIONS_EXT
+
 Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
@@ -1859,3 +1862,5 @@ FW_VERSIONS = {
     ],
   },
 }
+
+FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

opendbc/car/toyota/interface.py

@@ -157,6 +157,14 @@ class CarInterface(CarInterfaceBase):
     if candidate in UNSUPPORTED_DSU_CAR:
       ret.safetyParam |= ToyotaSafetyFlagsSP.UNSUPPORTED_DSU
 
+    if candidate in (CAR.TOYOTA_WILDLANDER, ):
+      stock_cp.lateralTuning.init('pid')
+      stock_cp.lateralTuning.pid.kiBP = [0.0]
+      stock_cp.lateralTuning.pid.kpBP = [0.0]
+      stock_cp.lateralTuning.pid.kpV = [0.6]
+      stock_cp.lateralTuning.pid.kiV = [0.1]
+      stock_cp.lateralTuning.pid.kf = 0.00007818594
+
     return ret
 
   @staticmethod

opendbc/car/toyota/values.py

@@ -396,6 +396,12 @@ class CAR(Platforms):
     flags=ToyotaFlags.UNSUPPORTED_DSU,
   )
 
+  # port extensions
+  TOYOTA_WILDLANDER = ToyotaSecOCPlatformConfig(
+    [ToyotaCarDocs("Toyota Wildlander PHEV 2021", min_enable_speed=MIN_ACC_SPEED)],
+    CarSpecs(mass=4155. * CV.LB_TO_KG, wheelbase=2.69, steerRatio=16.88, tireStiffnessFactor=0.5533),
+  )
+
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [

opendbc/sunnypilot/car/car_list.json

@@ -3585,6 +3585,16 @@
     ],
     "package": "All"
   },
+  "Toyota Wildlander PHEV 2021": {
+    "platform": "TOYOTA_WILDLANDER",
+    "make": "Toyota",
+    "brand": "toyota",
+    "model": "Wildlander PHEV",
+    "year": [
+      "2021"
+    ],
+    "package": "All"
+  },
   "Toyota Yaris (Non-US only) 2020, 2023": {
     "platform": "TOYOTA_YARIS",
     "make": "Toyota",

opendbc/sunnypilot/car/toyota/fingerprints_ext.py

@@ -0,0 +1,24 @@
+from opendbc.car.structs import CarParams
+from opendbc.car.toyota.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS_EXT = {
+  CAR.TOYOTA_WILDLANDER: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630R57001\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152642C4000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4221000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R01000\x00\x00\x00\x008646G4202000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+  },
+}