Toyota: Toyota Sienna 2021-26 PATCHED support (EPS-bypassed SecOC, lateral-only)

2026-10-27 13:03:42 +08:00 · 2026-09-02 10:50:36 +00:00
parent dcb5b69f2e
commit 03a50dbad6
7 changed files with 71 additions and 2 deletions
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

-# Support Information for 402 Known Cars
+# Support Information for 403 Known Cars

 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -359,6 +359,7 @@
 |Toyota|Sequoia 2023-25|All|[Not compatible](#can-bus-security)|
 |Toyota|Sienna 2018-20|All|[Upstream](#upstream)|
 |Toyota|Sienna 2021-23|All|[Custom](#secoc-cars-with-recoverable-keys)|
+|Toyota|Sienna 2021-26|All|[Custom](#secoc-cars-with-eps-patched)|
 |Toyota|Sienna 2024-25|All|[Not compatible](#can-bus-security)|
 |Toyota|Tundra 2022-25|All|[Not compatible](#can-bus-security)|
 |Toyota|Venza 2021-25|All|[Not compatible](#can-bus-security)|
@@ -10,6 +10,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
 "TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME"
+"TOYOTA_SIENNA_PATCHED" = "TOYOTA_RAV4_PRIME"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
 "LEXUS_ES" = "TOYOTA_CAMRY"
@@ -106,6 +106,11 @@ class CarInterface(CarInterfaceBase):
    ret.openpilotLongitudinalControl = ((bool(ret.flags & ToyotaFlags.TSS2) and not (ret.flags & ToyotaFlags.RADAR_ACC)) or
                                        bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value))

+    # This platform only uses openpilot for lateral control. All longitudinal
+    # control and its SecOC traffic remain stock.
+    if ret.flags & ToyotaFlags.EPS_BYPASS_SECOC.value:
+      ret.openpilotLongitudinalControl = False
+
    ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR

    if not ret.openpilotLongitudinalControl:
@@ -1,11 +1,12 @@
 import unittest

-from opendbc.car import Bus
+from opendbc.car import Bus, gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.values import CAR, DBC, ToyotaFlags, FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, \
                                                  FUZZY_EXCLUDED_PLATFORMS, get_platform_codes
+from opendbc.car.toyota.interface import CarInterface
 from opendbc.testing import fuzzy_test

 Ecu = CarParams.Ecu
@@ -29,6 +30,15 @@ class TestToyotaInterfaces(unittest.TestCase):
    # At this time, only RAV4 2023 is expected to use LTA/angle control
    assert cars_with(ToyotaFlags.ANGLE_CONTROL) == {CAR.TOYOTA_RAV4_TSS2_2023}

+  def test_eps_bypass_secoc(self):
+    # Only the patched Sienna uses EPS-bypassed SecOC
+    assert cars_with(ToyotaFlags.EPS_BYPASS_SECOC) == {CAR.TOYOTA_SIENNA_PATCHED}
+
+    # EPS-bypass SecOC platforms are lateral-only: longitudinal remains stock
+    CP = CarInterface.get_params(CAR.TOYOTA_SIENNA_PATCHED, gen_empty_fingerprint(), list(),
+                                 alpha_long=False, is_release=False, docs=False)
+    assert not CP.openpilotLongitudinalControl
+
  def test_tss2_dbc(self):
    # We make some assumptions about TSS2 platforms,
    # like looking up certain signals only in this DBC
@@ -74,6 +74,9 @@ class ToyotaFlags(IntFlag):
  # these cars can utilize 2.0 m/s^2
  RAISED_ACCEL_LIMIT = 1024
  SECOC = 2048
+  # The EPS firmware accepts dummy SecOC MACs for lateral frames. Longitudinal
+  # control remains entirely stock on this platform.
+  EPS_BYPASS_SECOC = 4096

  # deprecated flags
  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
@@ -102,6 +105,17 @@ class ToyotaSecOcCarDocs(ToyotaCarDocs):
  support_link: str = "#secoc-cars-with-recoverable-keys"


+@dataclass
+class ToyotaSiennaPatchedCarDocs(ToyotaSecOcCarDocs):
+  support_link: str = "#secoc-cars-with-eps-patched"
+
+  def __post_init__(self):
+    super().__post_init__()
+    self.model = "Sienna"
+    self.years = "2021-26"
+    self.year_list = ["2021", "2022", "2023", "2024", "2025", "2026"]
+
+
@dataclass
 class ToyotaTSS2PlatformConfig(PlatformConfig):
  dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
@@ -310,6 +324,11 @@ class CAR(Platforms):
    [ToyotaSecOcCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
    CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
  )
+  TOYOTA_SIENNA_PATCHED = ToyotaSecOCPlatformConfig(
+    [ToyotaSiennaPatchedCarDocs("Toyota Sienna 2021-26 PATCHED", min_enable_speed=MIN_ACC_SPEED)],
+    CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
+    flags=ToyotaFlags.EPS_BYPASS_SECOC,
+  )

  # Lexus
  LEXUS_CTH = PlatformConfig(
@@ -3927,6 +3927,21 @@
    ],
    "package": "All"
  },
+  "Toyota Sienna 2021-26 PATCHED": {
+    "platform": "TOYOTA_SIENNA_PATCHED",
+    "make": "Toyota",
+    "brand": "toyota",
+    "model": "Sienna",
+    "year": [
+      "2021",
+      "2022",
+      "2023",
+      "2024",
+      "2025",
+      "2026"
+    ],
+    "package": "All"
+  },
  "Toyota Yaris (Non-US only) 2020, 2023": {
    "platform": "TOYOTA_YARIS",
    "make": "Toyota",
@@ -1,6 +1,24 @@
 from opendbc.car.structs import CarParams
+from opendbc.car.toyota.values import CAR

 Ecu = CarParams.Ecu

 FW_VERSIONS_EXT = {
+  CAR.TOYOTA_SIENNA_PATCHED: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630867000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15264510100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4512000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F4501000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0805200\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+    ],
+  },
 }