Add 2020 Lexus RX Hybrid support (#1547)
* Add 2020 Lexus RX Hybrid support
* Add 2020 Lexus RX Hybrid to IGNORED_FINGERPRINTS and route to test_car_models per @pd0wm
old-commit-hash: dd16990952
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Thaixican
GitHub
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53a18127e6
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@ -91,6 +91,7 @@ Supported Cars
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| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
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@ -101,6 +101,16 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate == CAR.LEXUS_RXH_TSS2:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.79
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ret.steerRatio = 16.0 # 14.8 is spec end-to-end
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.15]]
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate in [CAR.CHR, CAR.CHRH]:
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stop_and_go = True
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ret.safetyParam = 73
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@ -17,6 +17,7 @@ class CAR:
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LEXUS_RX = "LEXUS RX 350 2016"
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LEXUS_RXH = "LEXUS RX HYBRID 2017"
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LEXUS_RX_TSS2 = "LEXUS RX350 2020"
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LEXUS_RXH_TSS2 = "LEXUS RX450 HYBRID 2020"
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CHR = "TOYOTA C-HR 2018"
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CHRH = "TOYOTA C-HR HYBRID 2018"
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CAMRY = "TOYOTA CAMRY 2018"
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@ -133,6 +134,11 @@ FINGERPRINTS = {
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{
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36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594:8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
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}],
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CAR.LEXUS_RXH_TSS2: [
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# 2020 Lexus RX 450h
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{
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36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 744: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1808: 8, 1809: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1940: 8, 1941: 8, 1945: 8, 1948: 8, 1949: 8, 1952: 8, 1953: 8, 1956: 8, 1960: 8, 1961: 8, 1968: 8, 1976: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8, 2015: 8, 2016: 8, 2024: 8
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}],
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CAR.CHR: [{
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36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 705: 8, 740: 5, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 913: 8, 918: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
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}],
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@ -261,7 +267,7 @@ FINGERPRINTS = {
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}
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# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
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IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2]
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IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_RXH_TSS2]
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FW_VERSIONS = {
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CAR.AVALON: {
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@ -873,6 +879,23 @@ FW_VERSIONS = {
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b'8646F4809000\x00\x00\x00\x00',
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],
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},
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CAR.LEXUS_RXH_TSS2: {
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(Ecu.engine, 0x7e0, None): [
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b'\x02348X8000\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.esp, 0x7b0, None): [
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b'F152648831\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B48271\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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b'\x018821F3301400\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x750, 0x6d): [
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b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
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],
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},
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}
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STEER_THRESHOLD = 100
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@ -885,6 +908,7 @@ DBC = {
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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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CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
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CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
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CAR.CHRH: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
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CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
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@ -906,6 +930,6 @@ DBC = {
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CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
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}
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NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
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TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
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NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2] # no resume button press required
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NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
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TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
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NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2] # no resume button press required
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@ -303,6 +303,11 @@ routes = {
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'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"b74758c690a49668|2020-05-20--15-58-57": {
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'carFingerprint': TOYOTA.LEXUS_RXH_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"ec429c0f37564e3c|2020-02-01--17-28-12": {
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'carFingerprint': TOYOTA.LEXUS_NXH,
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