Toyota: Prius V 2017 support (#23636)
* Add Toyota Prius Alpha support * Fix opendbc link * Update interface.py * v * revert opendbc Co-authored-by: CT921 <tim.chen242@gmail.com> Co-authored-by: 【TIM】 <90225659+CT921@users.noreply.github.com>pull/23637/head
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@ -7,6 +7,7 @@ Version 0.8.13 (2022-XX-XX)
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* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
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* Subaru Impreza 2020 support thanks to martinl!
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* Toyota Avalon 2022 support thanks to sshane!
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* Toyota Prius v 2017 support thanks to CT921!
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Version 0.8.12 (2021-12-15)
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========================
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@ -64,6 +64,7 @@
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| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph |
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| Toyota | Prius v 2017 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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@ -26,6 +26,8 @@ class CarInterface(CarInterfaceBase):
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ret.steerLimitTimer = 0.4
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ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
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stop_and_go = False
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if candidate == CAR.PRIUS:
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stop_and_go = True
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ret.wheelbase = 2.70
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@ -36,6 +38,13 @@ class CarInterface(CarInterfaceBase):
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set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
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ret.steerActuatorDelay = 0.3
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elif candidate == CAR.PRIUS_V:
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ret.wheelbase = 2.78
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ret.steerRatio = 17.8
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tire_stiffness_factor = 0.5533
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ret.mass = 4387. * 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 in (CAR.RAV4, CAR.RAV4H):
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stop_and_go = True if (candidate in CAR.RAV4H) else False
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ret.wheelbase = 2.65
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@ -45,7 +54,6 @@ class CarInterface(CarInterfaceBase):
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set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
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elif candidate == CAR.COROLLA:
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stop_and_go = False
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ret.wheelbase = 2.70
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ret.steerRatio = 18.27
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tire_stiffness_factor = 0.444 # not optimized yet
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@ -94,7 +102,6 @@ class CarInterface(CarInterfaceBase):
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set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
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elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
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stop_and_go = False
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ret.wheelbase = 2.82
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ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
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tire_stiffness_factor = 0.7983
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@ -149,7 +156,6 @@ class CarInterface(CarInterfaceBase):
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set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
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elif candidate == CAR.LEXUS_IS:
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stop_and_go = False
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ret.wheelbase = 2.79908
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ret.steerRatio = 13.3
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tire_stiffness_factor = 0.444
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@ -157,7 +163,6 @@ class CarInterface(CarInterfaceBase):
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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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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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@ -46,6 +46,7 @@ class CAR:
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HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
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HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
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PRIUS = "TOYOTA PRIUS 2017"
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PRIUS_V = "TOYOTA PRIUS v 2017"
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PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
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RAV4 = "TOYOTA RAV4 2017"
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RAV4H = "TOYOTA RAV4 HYBRID 2017"
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@ -73,25 +74,24 @@ class CAR:
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STATIC_DSU_MSGS = [
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(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
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(0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
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(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 2, b'\x00\x00\x00\x46'),
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(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
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(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
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(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'),
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(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
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(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
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(0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
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(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
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(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
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(0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
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(0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
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(0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
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(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
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(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
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(0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
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(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
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(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
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(0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
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(0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
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(0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
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(0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
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(0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 100, b'\x00\x00\x01\x79'),
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(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
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(0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'),
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(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
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]
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FW_VERSIONS = {
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CAR.AVALON: {
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(Ecu.esp, 0x7b0, None): [
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@ -983,6 +983,23 @@ FW_VERSIONS = {
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b'8646F4705200\x00\x00\x00\x00',
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],
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},
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CAR.PRIUS_V: {
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(Ecu.esp, 0x7b0, None): [
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b'F152647280\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\x0234781000\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.dsu, 0x791, None): [
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b'881514705100\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'8646F4703300\x00\x00\x00\x00',
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],
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},
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CAR.RAV4: {
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(Ecu.engine, 0x7e0, None): [
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b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
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@ -1647,6 +1664,7 @@ DBC = {
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CAR.RAV4H: dbc_dict('toyota_tssp_hybrid_generated', 'toyota_adas'),
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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.PRIUS_V: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
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CAR.COROLLA: dbc_dict('toyota_rav4_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('toyota_tssp_pt_generated', 'toyota_adas'),
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@ -144,6 +144,7 @@ routes = [
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TestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
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TestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
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TestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
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TestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
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TestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
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TestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
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