Toyota: Support Avalon 2022 (TSS2.5) (commaai#23381)

* Add AVALON_TSS2 * Is TSS2 now! * Add Avalon to CARS.md * add to test_routes add to test_routes
budney · Jan 19, 2022 · 7075e2b · 7075e2b
1 parent c040c27
commit 7075e2b
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Showing 4 changed files with 23 additions and 2 deletions.
diff --git a/docs/CARS.md b/docs/CARS.md
@@ -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              |

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -98,7 +98,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       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

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
@@ -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 @@ class CAR:
       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 @@ class CAR:
   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 @@ class CAR:
 # 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}
 

diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
@@ -107,6 +107,7 @@
   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),