mirror of https://github.com/1okko/openpilot.git
Toyota: combine more hybrid platforms (#31057)
* Combine * migrate test models segs * fix highlander engine * no change
This commit is contained in:
Shane Smiskol
GitHub
parent
23cbfe9eb3
commit
29536324c1
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@ -155,7 +155,7 @@ A supported vehicle is one that just works when you install a comma device. All
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|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
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|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
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|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
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|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
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|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
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|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
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|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
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@ -123,6 +123,7 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
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found_versions = live_fw_versions.get(addr, set())
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if not len(found_versions):
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# Some models can sometimes miss an ecu, or show on two different addresses
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# FIXME: this logic can be improved to be more specific, should require one of the two addresses
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if candidate in config.non_essential_ecus.get(ecu_type, []):
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continue
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@ -193,14 +193,14 @@ routes = [
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CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid
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CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid
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CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
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CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid
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CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
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CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid
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CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
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CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
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CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
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CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
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CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
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CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
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CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid
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CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
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CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2), # hybrid
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CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
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@ -210,7 +210,7 @@ routes = [
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CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
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CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid
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CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
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CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
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CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER), # hybrid
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CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
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CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
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CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
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@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
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size 125301
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oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d
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size 125147
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@ -49,9 +49,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
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"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
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"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
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"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
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"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
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"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
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"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
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"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
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"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
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"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
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"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
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@ -66,9 +65,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
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"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
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"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
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"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
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"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
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"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
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"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
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"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600]
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"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
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"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
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"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
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@ -10,7 +10,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
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"LEXUS IS 2018" = "LEXUS NX 2018"
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"LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
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"LEXUS ES 2018" = "TOYOTA CAMRY 2018"
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"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018"
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"LEXUS RC 2020" = "LEXUS NX 2020"
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"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
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@ -102,7 +102,7 @@ class CarController:
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if self.CP.enableGasInterceptor and CC.longActive:
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MAX_INTERCEPTOR_GAS = 0.5
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# RAV4 has very sensitive gas pedal
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if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
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if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
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PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
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elif self.CP.carFingerprint in (CAR.COROLLA,):
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PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
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@ -614,41 +614,27 @@ FW_VERSIONS = {
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b'\x01896630E88000\x00\x00\x00\x00',
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b'\x01896630EA0000\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B48140\x00\x00\x00\x00\x00\x00',
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b'8965B48150\x00\x00\x00\x00\x00\x00',
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b'8965B48210\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F15260E011\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881510E01100\x00\x00\x00\x00',
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b'881510E01200\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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b'8821F4702100\x00\x00\x00\x00',
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b'8821F4702300\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x750, 0x6d): [
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b'8646F0E01200\x00\x00\x00\x00',
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b'8646F0E01300\x00\x00\x00\x00',
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],
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},
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CAR.HIGHLANDERH: {
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(Ecu.eps, 0x7a1, None): [
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b'8965B48160\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F152648541\x00\x00\x00\x00\x00\x00',
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b'F152648542\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B48140\x00\x00\x00\x00\x00\x00',
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b'8965B48150\x00\x00\x00\x00\x00\x00',
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b'8965B48160\x00\x00\x00\x00\x00\x00',
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b'8965B48210\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F15260E011\x00\x00\x00\x00\x00\x00',
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b'F152648541\x00\x00\x00\x00\x00\x00',
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b'F152648542\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881510E01100\x00\x00\x00\x00',
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b'881510E01200\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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b'8821F4702100\x00\x00\x00\x00',
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b'8821F4702300\x00\x00\x00\x00',
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@ -1273,39 +1259,24 @@ FW_VERSIONS = {
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},
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CAR.LEXUS_ES: {
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(Ecu.engine, 0x7e0, None): [
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b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F152606202\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881513309500\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B33502\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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b'8821F4701200\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x750, 0x6d): [
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b'8646F3302200\x00\x00\x00\x00',
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],
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},
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CAR.LEXUS_ESH: {
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(Ecu.engine, 0x7e0, None): [
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b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F152633171\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881513309500\x00\x00\x00\x00',
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b'881513310400\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B33502\x00\x00\x00\x00\x00\x00',
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b'8965B33512\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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b'8821F4701100\x00\x00\x00\x00',
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b'8821F4701200\x00\x00\x00\x00',
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b'8821F4701300\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x750, 0x6d): [
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@ -1463,43 +1434,6 @@ FW_VERSIONS = {
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b'\x018966348W1300\x00\x00\x00\x00',
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b'\x018966348W2300\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F152648472\x00\x00\x00\x00\x00\x00',
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b'F152648473\x00\x00\x00\x00\x00\x00',
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b'F152648474\x00\x00\x00\x00\x00\x00',
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b'F152648492\x00\x00\x00\x00\x00\x00',
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b'F152648493\x00\x00\x00\x00\x00\x00',
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b'F152648494\x00\x00\x00\x00\x00\x00',
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b'F152648630\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881514810300\x00\x00\x00\x00',
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b'881514810500\x00\x00\x00\x00',
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b'881514810700\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B0E011\x00\x00\x00\x00\x00\x00',
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b'8965B0E012\x00\x00\x00\x00\x00\x00',
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b'8965B48102\x00\x00\x00\x00\x00\x00',
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b'8965B48111\x00\x00\x00\x00\x00\x00',
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b'8965B48112\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'8821F4701000\x00\x00\x00\x00',
|
||||
b'8821F4701100\x00\x00\x00\x00',
|
||||
b'8821F4701200\x00\x00\x00\x00',
|
||||
b'8821F4701300\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'8646F4801100\x00\x00\x00\x00',
|
||||
b'8646F4801200\x00\x00\x00\x00',
|
||||
b'8646F4802001\x00\x00\x00\x00',
|
||||
b'8646F4802100\x00\x00\x00\x00',
|
||||
b'8646F4802200\x00\x00\x00\x00',
|
||||
b'8646F4809000\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEXUS_RXH: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
|
|
@ -1513,13 +1447,23 @@ FW_VERSIONS = {
|
|||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'F152648361\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648472\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648473\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648474\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648492\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648493\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648494\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648501\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648502\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648504\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648630\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648740\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648A30\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.dsu, 0x791, None): [
|
||||
b'881514810300\x00\x00\x00\x00',
|
||||
b'881514810500\x00\x00\x00\x00',
|
||||
b'881514810700\x00\x00\x00\x00',
|
||||
b'881514811300\x00\x00\x00\x00',
|
||||
b'881514811500\x00\x00\x00\x00',
|
||||
b'881514811700\x00\x00\x00\x00',
|
||||
|
|
@ -1538,6 +1482,7 @@ FW_VERSIONS = {
|
|||
b'8821F4701300\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'8646F4801100\x00\x00\x00\x00',
|
||||
b'8646F4801200\x00\x00\x00\x00',
|
||||
b'8646F4802001\x00\x00\x00\x00',
|
||||
b'8646F4802100\x00\x00\x00\x00',
|
||||
|
|
|
|||
|
|
@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid
|
||||
|
||||
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
|
||||
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.79
|
||||
ret.steerRatio = 16. # 14.8 is spec end-to-end
|
||||
|
|
@ -98,7 +98,8 @@ class CarInterface(CarInterfaceBase):
|
|||
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):
|
||||
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
|
||||
# TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
|
||||
ret.steerRatio = 16.0
|
||||
|
|
@ -141,9 +142,7 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
ret.mass = 3060. * CV.LB_TO_KG
|
||||
|
||||
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
|
||||
if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng
|
||||
stop_and_go = True
|
||||
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
|
||||
ret.wheelbase = 2.8702
|
||||
ret.steerRatio = 16.0 # not optimized
|
||||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
|
|
|
|||
|
|
@ -50,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase):
|
|||
|
||||
|
||||
class TestToyotaFingerprint(unittest.TestCase):
|
||||
def test_non_essential_ecus(self):
|
||||
# Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
with self.subTest(car_model=car_model.value):
|
||||
engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
|
||||
self.assertEqual(len(engine_ecus) > 1,
|
||||
car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
|
||||
f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")
|
||||
|
||||
# Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
|
||||
# fingerprint in the absence of full FW matches:
|
||||
@settings(max_examples=100)
|
||||
|
|
@ -144,7 +153,7 @@ class TestToyotaFingerprint(unittest.TestCase):
|
|||
self.assertEqual(list(matches)[0], platform)
|
||||
else:
|
||||
# If a platform has multiple matches, add it and its matches
|
||||
platforms_with_shared_codes |= {platform, *matches}
|
||||
platforms_with_shared_codes |= {str(platform), *matches}
|
||||
|
||||
self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
|
||||
|
||||
|
|
|
|||
|
|
@ -62,7 +62,6 @@ class CAR(StrEnum):
|
|||
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
|
||||
HIGHLANDER = "TOYOTA HIGHLANDER 2017"
|
||||
HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
|
||||
HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
|
||||
PRIUS = "TOYOTA PRIUS 2017"
|
||||
PRIUS_V = "TOYOTA PRIUS v 2017"
|
||||
PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
|
||||
|
|
@ -77,7 +76,6 @@ class CAR(StrEnum):
|
|||
# Lexus
|
||||
LEXUS_CTH = "LEXUS CT HYBRID 2018"
|
||||
LEXUS_ES = "LEXUS ES 2018"
|
||||
LEXUS_ESH = "LEXUS ES HYBRID 2018"
|
||||
LEXUS_ES_TSS2 = "LEXUS ES 2019"
|
||||
LEXUS_IS = "LEXUS IS 2018"
|
||||
LEXUS_IS_TSS2 = "LEXUS IS 2023"
|
||||
|
|
@ -85,7 +83,6 @@ class CAR(StrEnum):
|
|||
LEXUS_NX_TSS2 = "LEXUS NX 2020"
|
||||
LEXUS_RC = "LEXUS RC 2020"
|
||||
LEXUS_RX = "LEXUS RX 2016"
|
||||
LEXUS_RXH = "LEXUS RX HYBRID 2017"
|
||||
LEXUS_RX_TSS2 = "LEXUS RX 2020"
|
||||
LEXUS_GS_F = "LEXUS GS F 2016"
|
||||
|
||||
|
|
@ -147,12 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
|||
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
|
||||
ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
|
||||
],
|
||||
CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
|
||||
CAR.HIGHLANDER: [
|
||||
ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
|
||||
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
|
||||
],
|
||||
CAR.HIGHLANDER_TSS2: [
|
||||
ToyotaCarInfo("Toyota Highlander 2020-23"),
|
||||
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
|
||||
],
|
||||
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
|
||||
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"),
|
||||
|
|
@ -188,8 +187,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
|||
|
||||
# Lexus
|
||||
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
|
||||
CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
|
||||
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
|
||||
CAR.LEXUS_ES: [
|
||||
ToyotaCarInfo("Lexus ES 2017-18"),
|
||||
ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
|
||||
],
|
||||
CAR.LEXUS_ES_TSS2: [
|
||||
ToyotaCarInfo("Lexus ES 2019-24"),
|
||||
ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
|
||||
|
|
@ -209,8 +210,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
|||
CAR.LEXUS_RX: [
|
||||
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
|
||||
ToyotaCarInfo("Lexus RX 2017-19"),
|
||||
],
|
||||
CAR.LEXUS_RXH: [
|
||||
# Hybrid platforms
|
||||
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
|
||||
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
|
||||
],
|
||||
|
|
@ -222,33 +222,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
|||
|
||||
# (addr, cars, bus, 1/freq*100, vl)
|
||||
STATIC_DSU_MSGS = [
|
||||
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
|
||||
(0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
|
||||
(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'),
|
||||
(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
|
||||
(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
|
||||
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
|
||||
(0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
|
||||
(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'),
|
||||
(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
|
||||
(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
|
||||
1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
|
||||
(0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
|
||||
(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
|
||||
(0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
|
||||
(0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
|
||||
(0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
|
||||
(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
|
||||
(0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
|
||||
(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
|
||||
(0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
|
||||
(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
|
||||
(0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
|
||||
(0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
|
||||
(0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
|
||||
(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
|
||||
(0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
|
||||
(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
|
||||
CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
|
||||
(0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
|
||||
(0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
|
||||
(0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
|
||||
(0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
|
||||
0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
|
||||
(0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'),
|
||||
(0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
|
||||
(0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'),
|
||||
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
|
||||
(0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'),
|
||||
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
|
||||
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
]
|
||||
|
||||
|
||||
|
|
@ -395,8 +394,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
|||
# FIXME: On some models, abs can sometimes be missing
|
||||
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],
|
||||
Ecu.engine: [CAR.HIGHLANDER, 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, CAR.LEXUS_RX_TSS2],
|
||||
},
|
||||
extra_ecus=[
|
||||
# All known ECUs on a late-model Toyota vehicle not queried here:
|
||||
|
|
@ -444,7 +443,6 @@ DBC = {
|
|||
CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
|
||||
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),
|
||||
|
|
@ -452,7 +450,6 @@ DBC = {
|
|||
CAR.CAMRY_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.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
|
||||
CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
|
||||
CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
|
|
@ -462,7 +459,6 @@ DBC = {
|
|||
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
|
||||
CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
|
||||
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'),
|
||||
|
|
@ -495,4 +491,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
|
|||
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}
|
||||
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}
|
||||
|
|
|
|||
Loading…
Reference in New Issue