Merge pull request commaai#1 from calvinpark/siennahybrid-21-22-23

2021 2022 2023 Toyota Sienna Hybrid
chrispypatt · Sep 22, 2024 · 59db3f7 · 59db3f7
2 parents c92756e + 73997e4
commit 59db3f7
Show file tree

Hide file tree

Showing 7 changed files with 977 additions and 3 deletions.
diff --git a/opendbc/generator/toyota/toyota_sienna_hybrid.dbc b/opendbc/generator/toyota/toyota_sienna_hybrid.dbc
diff --git a/opendbc/toyota_sienna_hybrid_generated.dbc b/opendbc/toyota_sienna_hybrid_generated.dbc
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
@@ -10,6 +10,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
 "TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2"
+"TOYOTA_SIENNA_HYBRID" = "TOYOTA_RAV4_TSS2"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
 "LEXUS_ES" = "TOYOTA_CAMRY"

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -141,7 +141,7 @@ def update(self, cp, cp_cam, frogpilot_toggles):
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
-    if self.CP.carFingerprint not in [CAR.TOYOTA_MIRAI, CAR.TOYOTA_RAV4_PRIME]:
+    if self.CP.carFingerprint not in [CAR.TOYOTA_MIRAI, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_HYBRID]:
       ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
 
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@@ -308,7 +308,7 @@ def get_can_parser(CP):
     if CP.flags & ToyotaFlags.ALT_GAS_MSG.value:
       messages.append(("GAS_PEDAL", 42))
 
-    if CP.carFingerprint not in [CAR.TOYOTA_MIRAI, CAR.TOYOTA_RAV4_PRIME]:
+    if CP.carFingerprint not in [CAR.TOYOTA_MIRAI, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_HYBRID]:
       messages.append(("ENGINE_RPM", 42))
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:

diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
@@ -1165,6 +1165,30 @@
       b'\x028646F4210100\x00\x00\x00\x00!!!!!!!!!!!!!!!!',
     ],
   },
+  CAR.TOYOTA_SIENNA_HYBRID: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630841000\x00\x00\x00\x00',
+      b'\x01896630864000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260815100\x00\x00\x00\x00',
+      b'\x01F15260815200\x00\x00\x00\x00',
+      b'\x01F15260815300\x00\x00\x00\x00'
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4509100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F3301500\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x028646F0802300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F0802400\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\xf1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x84\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -77,7 +77,7 @@ def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_l
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       ret.wheelSpeedFactor = 1.035
 
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME):
+    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_HYBRID):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
@@ -258,6 +258,12 @@ class CAR(Platforms):
     dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
     flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC | ToyotaFlags.ALT_GAS_MSG | ToyotaFlags.GEAR_PACKET_HYBRID,
   )
+  TOYOTA_SIENNA_HYBRID = PlatformConfig(
+    [],
+    CarSpecs(mass=4725. * CV.LB_TO_KG, wheelbase=3.065, steerRatio=19.67, tireStiffnessFactor=0.8),
+    dbc_dict('toyota_sienna_hybrid_generated', 'toyota_tss2_adas'),
+    flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC | ToyotaFlags.ALT_GAS_MSG | ToyotaFlags.GEAR_PACKET_HYBRID,
+  )
   TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
     [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),