RAV4 Hybrid TSS2 Support (#962)
* merge wocsor RAV4_HYBRID_TSS2 branch
From wocsor's PR #740
cleanup fingerprint
2020 rav4 hybrid confirmed working
* 2019 RAV4 Hybrid Limited
Adds additional messages for Limited trim. XSE and XLE still contained within this longer Limited fingerprint.
* Support Swiss 2019 RAV4 Hybrid XLE
Adds 913:8 value from discord user RDuke
* Separated RAV4 ICE and Hybrid
* Add route to test_car_models.py
* Revert "Toyota Corolla Hatchback Hybrid 2019 Excite (Israel)"
This reverts commit f1d6f68625.
pull/998/head
illumiN8i
Willem Melching
parent
b9b90267c5
commit
21af1bad2b
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@ -118,6 +118,7 @@ Supported Cars
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| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
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| Toyota | Sienna 2018 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
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@ -172,6 +172,16 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate == CAR.RAV4H_TSS2:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.68986
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ret.steerRatio = 14.3
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tire_stiffness_factor = 0.7933
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
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stop_and_go = True
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@ -30,6 +30,7 @@ class CAR:
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SIENNA = "TOYOTA SIENNA XLE 2018"
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LEXUS_IS = "LEXUS IS300 2018"
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LEXUS_CTH = "LEXUS CT 200H 2018"
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RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
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# addr: (ecu, cars, bus, 1/freq*100, vl)
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@ -188,10 +189,6 @@ FINGERPRINTS = {
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# 2019 Chinese Levin Hybrid
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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, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
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},
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# 2019 Israel Excite Hybrid
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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, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 2015: 8, 2016: 8, 2024: 8
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}
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],
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CAR.LEXUS_ES_TSS2: [{
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@ -218,6 +215,11 @@ FINGERPRINTS = {
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{
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36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
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}],
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CAR.RAV4H_TSS2: [
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#Hybrid Limited
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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, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 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, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 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, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 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, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
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}],
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CAR.LEXUS_CTH: [{
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36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
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}]
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@ -272,8 +274,9 @@ DBC = {
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CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
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CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
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CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
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CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_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]
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TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_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] # 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]
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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]
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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] # no resume button press required
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@ -279,6 +279,10 @@ routes = {
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'carFingerprint': TOYOTA.RAV4_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"7e34a988419b5307|2019-12-18--19-13-30": {
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'carFingerprint': TOYOTA.RAV4H_TSS2,
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'enableCamera': True,
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},
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"e6a24be49a6cd46e|2019-10-29--10-52-42": {
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'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
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