mirror of https://github.com/commaai/openpilot.git
Add Lexus RC support (#22941)
* Add f/w firmware for Lexus RC under LEXUS_IS
`@ph33rl355#0529` 2020 Lexus RC F Track Edition DongleID/route 32696cea52831b02|2021-11-16--23-12-02
Doesn't seem to need a full port, per user feedback...
https://discord.com/channels/469524606043160576/524327905937850394/910400788319326229
* Update CARS.md
* Separated Lexus RC from IS... still using IS DBC
* match lexus IS for now
* Update wheelbase to match published specs
I'm hesitant to touch `mass`, even though I know it's different from the IS.
* Add TOYOTA.LEXUS_RC test route
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d630ec9092
This commit is contained in:
Erich Moraga
GitHub
parent
76aed9c23b
commit
821ddf785f
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@ -37,6 +37,7 @@
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| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
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| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RC 2020 | All | Stock | 22mph | 0mph |
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| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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@ -113,7 +113,7 @@ class CarController():
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lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
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# Lexus IS uses a different cancellation message
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if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
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if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
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can_sends.append(create_acc_cancel_command(self.packer))
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elif CS.CP.openpilotLongitudinalControl:
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can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
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@ -79,7 +79,7 @@ class CarState(CarStateBase):
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
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if self.CP.carFingerprint == CAR.LEXUS_IS:
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if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
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ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
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ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
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else:
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@ -93,7 +93,7 @@ class CarState(CarStateBase):
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# these cars are identified by an ACC_TYPE value of 2.
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# TODO: it is possible to avoid the lockout and gain stop and go if you
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# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
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if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint != CAR.LEXUS_IS) or \
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if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in [CAR.LEXUS_IS, CAR.LEXUS_RC]) or \
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(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
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@ -168,7 +168,7 @@ class CarState(CarStateBase):
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("STEER_TORQUE_SENSOR", 50),
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]
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if CP.carFingerprint == CAR.LEXUS_IS:
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if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
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signals.append(("MAIN_ON", "DSU_CRUISE", 0))
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signals.append(("SET_SPEED", "DSU_CRUISE", 0))
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checks.append(("DSU_CRUISE", 5))
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@ -186,6 +186,15 @@ class CarInterface(CarInterfaceBase):
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ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
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elif candidate == CAR.LEXUS_RC:
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ret.safetyConfigs[0].safetyParam = 77
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stop_and_go = False
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ret.wheelbase = 2.73050
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ret.steerRatio = 13.3
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tire_stiffness_factor = 0.444
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ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
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elif candidate == CAR.LEXUS_CTH:
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ret.safetyConfigs[0].safetyParam = 100
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stop_and_go = True
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@ -58,6 +58,7 @@ class CAR:
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LEXUS_NX = "LEXUS NX 2018"
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LEXUS_NXH = "LEXUS NX HYBRID 2018"
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LEXUS_NX_TSS2 = "LEXUS NX 2020"
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LEXUS_RC = "LEXUS RC 2020"
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LEXUS_RX = "LEXUS RX 2016"
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LEXUS_RXH = "LEXUS RX HYBRID 2017"
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LEXUS_RX_TSS2 = "LEXUS RX 2020"
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@ -804,10 +805,10 @@ FW_VERSIONS = {
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b'\x018966353M7100\x00\x00\x00\x00',
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b'\x018966353Q2000\x00\x00\x00\x00',
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b'\x018966353Q2300\x00\x00\x00\x00',
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b'\x018966353Q4000\x00\x00\x00\x00',
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b'\x018966353R1100\x00\x00\x00\x00',
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b'\x018966353R7100\x00\x00\x00\x00',
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b'\x018966353R8100\x00\x00\x00\x00',
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b'\x018966353Q4000\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
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@ -1358,6 +1359,26 @@ FW_VERSIONS = {
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b'8646F7801100\x00\x00\x00\x00',
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],
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},
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CAR.LEXUS_RC: {
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(Ecu.engine, 0x7e0, None): [
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b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.esp, 0x7b0, None): [
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b'F152624221\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881512409100\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B24081\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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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'8646F2402200\x00\x00\x00\x00',
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],
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},
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CAR.LEXUS_RX: {
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(Ecu.engine, 0x700, None): [
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b'\x01896630E36200\x00\x00\x00\x00',
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@ -1558,6 +1579,7 @@ DBC = {
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CAR.RAV4: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
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CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_adas'),
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CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_adas'),
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CAR.LEXUS_RC: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
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CAR.LEXUS_RX: dbc_dict('lexus_rx_350_2016_pt_generated', 'toyota_adas'),
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CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_adas'),
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CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
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@ -122,6 +122,7 @@ routes = [
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TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
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TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
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TestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
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TestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
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TestRoute("886fcd8408d570e9|2020-01-29--05-11-22", TOYOTA.LEXUS_RX),
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TestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
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TestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
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