Toyota: Support Avalon 2022 (TSS2.5) (#23381)
* Add AVALON_TSS2 * Is TSS2 now! * Add Avalon to CARS.md * add to test_routes add to test_routespull/23503/head
parent
b1a226b28b
commit
eb9f35946d
|
@ -45,6 +45,7 @@
|
|||
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Alphard 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
|
|
|
@ -98,7 +98,7 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
|
||||
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
|
||||
|
||||
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019):
|
||||
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
|
||||
stop_and_go = False
|
||||
ret.wheelbase = 2.82
|
||||
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
|
||||
|
|
|
@ -24,6 +24,7 @@ class CAR:
|
|||
AVALON = "TOYOTA AVALON 2016"
|
||||
AVALON_2019 = "TOYOTA AVALON 2019"
|
||||
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
|
||||
AVALON_TSS2 = "TOYOTA AVALON 2022"
|
||||
CAMRY = "TOYOTA CAMRY 2018"
|
||||
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
|
||||
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5
|
||||
|
@ -166,6 +167,23 @@ FW_VERSIONS = {
|
|||
b'8646F0702100\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.AVALON_TSS2: {
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'\x01F152607280\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B41110\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x01896630742000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F6201200\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.CAMRY: {
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x018966306L3100\x00\x00\x00\x00',
|
||||
|
@ -1623,6 +1641,7 @@ DBC = {
|
|||
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.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_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'),
|
||||
|
@ -1645,7 +1664,7 @@ DBC = {
|
|||
# Toyota/Lexus Safety Sense 2.0 and 2.5
|
||||
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, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
|
||||
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2}
|
||||
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2}
|
||||
|
||||
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
|
||||
|
||||
|
|
|
@ -107,6 +107,7 @@ 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("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
|
||||
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),
|
||||
|
|
Loading…
Reference in New Issue