diff --git a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc index 7fb743770..8549f117e 100644 --- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc +++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc @@ -10,7 +10,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX BO_ 608 STEER_TORQUE_SENSOR: 8 XXX - SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc index 4444ec852..7477d231b 100644 --- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc +++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc @@ -357,7 +357,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX BO_ 608 STEER_TORQUE_SENSOR: 8 XXX - SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index bd5deac46..15e3c633c 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -41,25 +41,17 @@ def get_can_parser(CP): ("STEER_RATE", "STEER_ANGLE_SENSOR", 0), ("CRUISE_ACTIVE", "PCM_CRUISE", 0), ("CRUISE_STATE", "PCM_CRUISE", 0), - ("MAIN_ON", "PCM_CRUISE_2", 0), - ("SET_SPEED", "PCM_CRUISE_2", 0), - ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0), ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0), ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0), ("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers ("LKA_STATE", "EPS_STATUS", 0), - ("IPAS_STATE", "EPS_STATUS", 1), ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0), - ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), ] checks = [ - ("BRAKE_MODULE", 40), - ("GAS_PEDAL", 33), ("WHEEL_SPEEDS", 80), ("STEER_ANGLE_SENSOR", 80), ("PCM_CRUISE", 33), - ("PCM_CRUISE_2", 33), ("STEER_TORQUE_SENSOR", 50), ("EPS_STATUS", 25), ] @@ -67,6 +59,32 @@ def get_can_parser(CP): if CP.carFingerprint in NO_DSU_CAR: signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)] + if CP.carFingerprint == CAR.LEXUS_ISH: + checks += [ + ("BRAKE_MODULE", 50), + ("GAS_PEDAL", 50), + ("PCM_CRUISE_ISH", 1), + ] + + signals += [ + ("MAIN_ON", "PCM_CRUISE_ISH", 0), + ("SET_SPEED", "PCM_CRUISE_ISH", 0), + ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0), + ] + else: + checks += [ + ("BRAKE_MODULE", 40), + ("GAS_PEDAL", 33), + ("PCM_CRUISE_2", 33), + ] + signals += [ + ("MAIN_ON", "PCM_CRUISE_2", 0), + ("SET_SPEED", "PCM_CRUISE_2", 0), + ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0), + ("IPAS_STATE", "EPS_STATUS", 1), + ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), + ] + if CP.carFingerprint == CAR.PRIUS: signals += [("STATE", "AUTOPARK_STATUS", 0)] @@ -171,14 +189,20 @@ class CarState(object): self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE'] can_gear = int(cp.vl["GEAR_PACKET"]['GEAR']) self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values) - self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] + if self.CP.carFingerprint == CAR.LEXUS_ISH: + self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON'] + else: + self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1 self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2 # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE'] self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5] - self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3 + if self.CP.carFingerprint == CAR.LEXUS_ISH: + self.ipas_active = False + else: + self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3 self.brake_error = 0 self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER'] self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS'] @@ -186,13 +210,21 @@ class CarState(object): self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD self.user_brake = 0 - self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED'] - self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] + if self.CP.carFingerprint == CAR.LEXUS_ISH: + self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED'] + # ish does not have curise status value (always 0), so we use curise_active value instead + self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'] + self.low_speed_lockout = False + else: + self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED'] + self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] + self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2 self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']) - self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2 self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed) if self.CP.carFingerprint == CAR.PRIUS: self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0 + elif self.CP.carFingerprint == CAR.LEXUS_ISH: + self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM']) else: self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM']) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9aa0a1e77..cfa971e4d 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -215,6 +215,16 @@ class CarInterface(object): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00007818594 + elif candidate == CAR.LEXUS_ISH: + stop_and_go = True + ret.safetyParam = 100 + ret.wheelbase = 2.80 # in spec + ret.steerRatio = 13.3 # in spec + tire_stiffness_factor = 0.444 # from camry + ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg) + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]] + ret.lateralTuning.pid.kf = 0.00006 # from camry + ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index df535eab0..6f009f0d7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -17,7 +17,7 @@ class CAR: COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019" SIENNA = "TOYOTA SIENNA XLE 2018" - + LEXUS_ISH = "LEXUS IS HYBRID 2017" class ECU: CAM = 0 # camera @@ -28,19 +28,25 @@ class ECU: # addr: (ecu, cars, bus, 1/freq*100, vl) STATIC_MSGS = [ (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'), - (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'), + (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00'), (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'), + (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1, 5, '\x00\x01\x00\x00\x00\x00\x00'), (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 40, '\x06\x00'), - (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'), + (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0, 40, '\x02\x00'), + (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'), (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'), (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'), - (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), - (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), + (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'), + (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), + (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'), - (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'), + (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'), + (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'), (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, '\xf4\x01\x90\x83\x00\x37'), (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1, 3, '\x03\x00\x20\x00\x00\x52'), @@ -83,6 +89,9 @@ def check_ecu_msgs(fingerprint, ecu): FINGERPRINTS = { + CAR.LEXUS_ISH: [{ + 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 + }], CAR.RAV4: [{ 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8 }], @@ -170,10 +179,17 @@ FINGERPRINTS = { { 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 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, 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, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 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, 1059: 1, 1063: 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, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8 }], - CAR.COROLLA_TSS2: [ - # hatch 2019+ and sedan 2020+ - { + CAR.COROLLA_TSS2: [{ + # hatch 2019+ and sedan 2020+ 36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 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, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 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, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8 + }, + { + # 2019 Taiwan Altis + 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 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, 1745: 8, 1775: 8, 1779: 8 + }, + { + # 2019 Taiwan Altis Hybrid (?) + 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, 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, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 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, 1745: 8, 1775: 8, 1779: 8 }], CAR.LEXUS_ESH_TSS2: [ { @@ -203,8 +219,9 @@ DBC = { CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'), + CAR.LEXUS_ISH: dbc_dict('lexus_is_hybrid_2017_pt_generated', 'toyota_adas'), } NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2] TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2] -NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA] # no resume button press required +NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ISH] # no resume button press required