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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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538
selfdrive/car/toyota/values.py
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@@ -1,13 +1,13 @@
import re
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Set, Union
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@@ -43,52 +43,24 @@ class CarControllerParams:
class ToyotaFlags(IntFlag):
# Detected flags
HYBRID = 1
SMART_DSU = 2
DISABLE_RADAR = 4
ZSS = 8
RADAR_CAN_FILTER = 1024
# Static flags
TSS2 = 8
NO_DSU = 16
UNSUPPORTED_DSU = 32
RADAR_ACC = 64
# these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL = 128
NO_STOP_TIMER = 256
# these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
SNG_WITHOUT_DSU = 512
class CAR(StrEnum):
# Toyota
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
AVALON = "TOYOTA AVALON 2016"
AVALON_2019 = "TOYOTA AVALON 2019"
AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5
CAMRY = "TOYOTA CAMRY 2018"
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5
CHR = "TOYOTA C-HR 2018"
CHR_TSS2 = "TOYOTA C-HR 2021"
COROLLA = "TOYOTA COROLLA 2017"
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
HIGHLANDER = "TOYOTA HIGHLANDER 2017"
HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
PRIUS = "TOYOTA PRIUS 2017"
PRIUS_V = "TOYOTA PRIUS v 2017"
PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
RAV4 = "TOYOTA RAV4 2017"
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"
# Lexus
LEXUS_CTH = "LEXUS CT HYBRID 2018"
LEXUS_ES = "LEXUS ES 2018"
LEXUS_ES_TSS2 = "LEXUS ES 2019"
LEXUS_IS = "LEXUS IS 2018"
LEXUS_IS_TSS2 = "LEXUS IS 2023"
LEXUS_NX = "LEXUS NX 2018"
LEXUS_NX_TSS2 = "LEXUS NX 2020"
LEXUS_LC_TSS2 = "LEXUS LC 2024"
LEXUS_RC = "LEXUS RC 2020"
LEXUS_RX = "LEXUS RX 2016"
LEXUS_RX_TSS2 = "LEXUS RX 2020"
LEXUS_GS_F = "LEXUS GS F 2016"
ZSS = 1024
class Footnote(Enum):
CAMRY = CarFootnote(
@@ -97,132 +69,310 @@ class Footnote(Enum):
@dataclass
class ToyotaCarInfo(CarInfo):
class ToyotaCarDocs(CarDocs):
package: str = "All"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
@dataclass
class ToyotaTSS2PlatformConfig(PlatformConfig):
dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
def init(self):
self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU
if self.flags & ToyotaFlags.RADAR_ACC:
self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', None)
class CAR(Platforms):
# Toyota
CAR.ALPHARD_TSS2: [
ToyotaCarInfo("Toyota Alphard 2019-20"),
ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
],
CAR.AVALON: [
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota Avalon 2017-18"),
],
CAR.AVALON_2019: [
ToyotaCarInfo("Toyota Avalon 2019-21"),
ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
],
CAR.AVALON_TSS2: [
ToyotaCarInfo("Toyota Avalon 2022"),
ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
],
CAR.CAMRY: [
ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
],
CAR.CAMRY_TSS2: [
ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
],
CAR.CHR: [
ToyotaCarInfo("Toyota C-HR 2017-20"),
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
],
CAR.CHR_TSS2: [
ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
],
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
CAR.COROLLA_TSS2: [
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
# Hybrid platforms
ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
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"),
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
],
CAR.HIGHLANDER_TSS2: [
ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
],
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"),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
],
CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
CAR.PRIUS_TSS2: [
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
CAR.RAV4: [
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18")
],
CAR.RAV4H: [
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
CAR.RAV4_TSS2: [
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
],
CAR.RAV4_TSS2_2022: [
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
CAR.RAV4_TSS2_2023: [
ToyotaCarInfo("Toyota RAV4 2023-24"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
],
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA ALPHARD 2020",
[
ToyotaCarDocs("Toyota Alphard 2019-20"),
ToyotaCarDocs("Toyota Alphard Hybrid 2021"),
],
CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
)
AVALON = PlatformConfig(
"TOYOTA AVALON 2016",
[
ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarDocs("Toyota Avalon 2017-18"),
],
CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
)
AVALON_2019 = PlatformConfig(
"TOYOTA AVALON 2019",
[
ToyotaCarDocs("Toyota Avalon 2019-21"),
ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"),
],
AVALON.specs,
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
)
AVALON_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA AVALON 2022", # TSS 2.5
[
ToyotaCarDocs("Toyota Avalon 2022"),
ToyotaCarDocs("Toyota Avalon Hybrid 2022"),
],
AVALON.specs,
)
CAMRY = PlatformConfig(
"TOYOTA CAMRY 2018",
[
ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
],
CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_DSU,
)
CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA CAMRY 2021", # TSS 2.5
[
ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarDocs("Toyota Camry Hybrid 2021-24"),
],
CAMRY.specs,
)
CHR = PlatformConfig(
"TOYOTA C-HR 2018",
[
ToyotaCarDocs("Toyota C-HR 2017-20"),
ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"),
],
CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_DSU,
)
CHR_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA C-HR 2021",
[
ToyotaCarDocs("Toyota C-HR 2021"),
ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"),
],
CHR.specs,
flags=ToyotaFlags.RADAR_ACC,
)
COROLLA = PlatformConfig(
"TOYOTA COROLLA 2017",
[ToyotaCarDocs("Toyota Corolla 2017-19")],
CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
)
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA COROLLA TSS2 2019",
[
ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
# Hybrid platforms
ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"),
ToyotaCarDocs("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarDocs("Lexus UX Hybrid 2019-23"),
],
CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
)
HIGHLANDER = PlatformConfig(
"TOYOTA HIGHLANDER 2017",
[
ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"),
],
CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
)
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA HIGHLANDER 2020",
[
ToyotaCarDocs("Toyota Highlander 2020-23"),
ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"),
],
HIGHLANDER.specs,
)
PRIUS = PlatformConfig(
"TOYOTA PRIUS 2017",
[
ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarDocs("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
],
CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
)
PRIUS_V = PlatformConfig(
"TOYOTA PRIUS v 2017",
[ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
)
PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA PRIUS TSS2 2021",
[
ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
)
RAV4 = PlatformConfig(
"TOYOTA RAV4 2017",
[
ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarDocs("Toyota RAV4 2017-18")
],
CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
)
RAV4H = PlatformConfig(
"TOYOTA RAV4 HYBRID 2017",
[
ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
RAV4.specs,
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
)
RAV4_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2019",
[
ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"),
],
CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
)
RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2022",
[
ToyotaCarDocs("Toyota RAV4 2022"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
RAV4_TSS2.specs,
flags=ToyotaFlags.RADAR_ACC,
)
RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2023",
[
ToyotaCarDocs("Toyota RAV4 2023-24"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"),
],
RAV4_TSS2.specs,
flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
)
MIRAI = ToyotaTSS2PlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5
[ToyotaCarDocs("Toyota Mirai 2021")],
CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
)
SIENNA = PlatformConfig(
"TOYOTA SIENNA 2018",
[ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
)
# Lexus
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
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 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
],
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"),
CAR.LEXUS_NX: [
ToyotaCarInfo("Lexus NX 2018-19"),
ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
],
CAR.LEXUS_NX_TSS2: [
ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
],
CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
CAR.LEXUS_RX: [
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX 2017-19"),
# Hybrid platforms
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
CAR.LEXUS_RX_TSS2: [
ToyotaCarInfo("Lexus RX 2020-22"),
ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
],
}
LEXUS_CTH = PlatformConfig(
"LEXUS CT HYBRID 2018",
[ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")],
CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
)
LEXUS_ES = PlatformConfig(
"LEXUS ES 2018",
[
ToyotaCarDocs("Lexus ES 2017-18"),
ToyotaCarDocs("Lexus ES Hybrid 2017-18"),
],
CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
)
LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS ES 2019",
[
ToyotaCarDocs("Lexus ES 2019-24"),
ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
],
LEXUS_ES.specs,
)
LEXUS_IS = PlatformConfig(
"LEXUS IS 2018",
[ToyotaCarDocs("Lexus IS 2017-19")],
CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
)
LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS IS 2023",
[ToyotaCarDocs("Lexus IS 2022-23")],
LEXUS_IS.specs,
)
LEXUS_NX = PlatformConfig(
"LEXUS NX 2018",
[
ToyotaCarDocs("Lexus NX 2018-19"),
ToyotaCarDocs("Lexus NX Hybrid 2018-19"),
],
CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
)
LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS NX 2020",
[
ToyotaCarDocs("Lexus NX 2020-21"),
ToyotaCarDocs("Lexus NX Hybrid 2020-21"),
],
LEXUS_NX.specs,
)
LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS LC 2024",
[ToyotaCarDocs("Lexus LC 2024")],
CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
)
LEXUS_RC = PlatformConfig(
"LEXUS RC 2020",
[ToyotaCarDocs("Lexus RC 2018-20")],
LEXUS_IS.specs,
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
)
LEXUS_RX = PlatformConfig(
"LEXUS RX 2016",
[
ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"),
ToyotaCarDocs("Lexus RX 2017-19"),
# Hybrid platforms
ToyotaCarDocs("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarDocs("Lexus RX Hybrid 2017-19"),
],
CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
)
LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS RX 2020",
[
ToyotaCarDocs("Lexus RX 2020-22"),
ToyotaCarDocs("Lexus RX Hybrid 2020-22"),
],
LEXUS_RX.specs,
)
LEXUS_GS_F = PlatformConfig(
"LEXUS GS F 2016",
[ToyotaCarDocs("Lexus GS F 2016")],
CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
)
# (addr, cars, bus, 1/freq*100, vl)
STATIC_DSU_MSGS = [
@@ -255,7 +405,7 @@ STATIC_DSU_MSGS = [
]
def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
# Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
codes = defaultdict(set) # Optional[part]-platform-major_version: set of sub_version
for fw in fw_versions:
@@ -299,7 +449,7 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
return dict(codes)
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
candidates = set()
for candidate, fws in offline_fw_versions.items():
@@ -402,7 +552,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
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.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],
CAR.LEXUS_IS_TSS2, 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:
@@ -442,66 +592,26 @@ FW_QUERY_CONFIG = FwQueryConfig(
STEER_THRESHOLD = 100
DBC = {
CAR.RAV4H: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.RAV4: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_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_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),
CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
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.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'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
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.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'),
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
}
# These cars have non-standard EPS torque scale factors. All others are 73
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
CAR.CHR_TSS2}
TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
NO_DSU_CAR = CAR.with_flags(ToyotaFlags.NO_DSU)
# the DSU uses the AEB message for longitudinal on these cars
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F}
UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaFlags.UNSUPPORTED_DSU)
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC)
# these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
# no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}
NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
# stop and go
STOP_AND_GO_CAR = TSS2_CAR | {CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.LEXUS_RX, CAR.CHR, CAR.CAMRY, CAR.HIGHLANDER,
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX, CAR.MIRAI, CAR.AVALON_2019}
DBC = CAR.create_dbc_map()