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Merge branch 'devel-en' into devel-zhs

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dragonpilot
2020-01-06 13:15:26 +10:00
parent a52d45cbeb ecef8200d5
commit bed5f9d26f
3 changed files with 20 additions and 14 deletions
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selfdrive/car/toyota/interface.py
Executable → Regular
+1 -1
View File
@@ -124,7 +124,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
elif candidate in [CAR.LEXUS_RXH, CAR.LEXUS_RX]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
selfdrive/car/toyota/radar_interface.py
Executable → Regular
View File
selfdrive/car/toyota/values.py
+19 -13
View File
@@ -30,6 +30,7 @@ class CAR:
LEXUS_CTH = "LEXUS CT 200H 2018"
LEXUS_ISH = "LEXUS IS300h 2017"
LEXUS_GSH = "LEXUS GS450h 2017"
LEXUS_RX = "LEXUS RX 2018"
class ECU:
@@ -40,24 +41,24 @@ class ECU:
# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = [
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1, 2, b'\x00\x00\x00\x46'),
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1, 2, b'\x00\x00\x00\x46'),
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x292, ECU.APGS, (CAR.PRIUS), 0, 3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
(0x32E, ECU.APGS, (CAR.PRIUS), 0, 20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
@@ -254,6 +255,10 @@ FINGERPRINTS = {
{
36: 8, 37: 8, 38: 8, 42: 8, 44: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 548: 8, 550: 2, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 744: 8, 800: 8, 810: 2, 812: 3, 832: 8, 836: 8, 845: 5, 849: 4, 864: 1, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 2, 917: 4, 918: 7, 919: 1, 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, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1116: 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, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1188: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1193: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1206: 8, 1208: 8, 1226: 8, 1227: 8, 1235: 8, 1237: 8, 1250: 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, 1596: 8, 1597: 8, 1599: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
# RX300 China
CAR.LEXUS_RX: [{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 744: 8, 800: 8, 810: 2, 812: 3, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
}
STEER_THRESHOLD = 100
@@ -281,6 +286,7 @@ DBC = {
CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_GSH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_RX: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_adas'),
}
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]