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Car Port: Toyota Avalon Hybrid 2019 (#21082) 

* Add 2019 Avalon Hybrid

* Rename variable

* Update values.py

Remove AVALONH fingerprint due to pending deprecation

* Add Avalon Hybrid 2019

* Add Avalon Hybrid 2019

* Update test_routes.py for Avalon Hybrid 2019

Co-authored-by: ShaneSmiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/21016/head^2
jbates9011 2021-06-01 17:51:28 -04:00 committed by GitHub
parent 129c760e4f
commit 909b848fa3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 25 additions and 1 deletions
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1
README.md
View File

@ -99,6 +99,7 @@ Supported Cars
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Lexus | UX Hybrid 2019 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon Hybrid 2019 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |

2
selfdrive/car/toyota/interface.py
View File

@ -176,7 +176,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.AVALON, CAR.AVALON_2019]:
elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82

22
selfdrive/car/toyota/values.py
View File

@ -37,6 +37,7 @@ class CAR:
HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
AVALON = "TOYOTA AVALON 2016"
AVALON_2019 = "TOYOTA AVALON 2019"
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
RAV4_TSS2 = "TOYOTA RAV4 2019"
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
@ -315,6 +316,26 @@ FW_VERSIONS = {
b'8646F0702100\x00\x00\x00\x00',
],
},
CAR.AVALONH_2019: {
(Ecu.esp, 0x7b0, None): [
b'F152641040\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881510704200\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B07010\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4702300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F0702100\x00\x00\x00\x00',
],
},
CAR.CAMRY: {
(Ecu.engine, 0x700, None): [
b'\x018966306L3100\x00\x00\x00\x00',
@ -1655,6 +1676,7 @@ DBC = {
CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.AVALONH_2019: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),

1
selfdrive/test/test_routes.py
View File

@ -87,6 +87,7 @@ routes = [
TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
TestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
TestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
TestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),