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Toyota: Add Wildlander car #261

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Toyota: Add Wildlander car #261

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1 change: 1 addition & 0 deletions selfdrive/car/torque_data/substitute.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -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_WILDLANDER" = "TOYOTA_RAV4_TSS2"
"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2"
"LEXUS_IS" = "LEXUS_NX"
"LEXUS_CTH" = "LEXUS_NX"
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5 changes: 3 additions & 2 deletions selfdrive/car/toyota/carstate.py
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Expand Up @@ -208,7 +208,7 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
# distance button is wired to the ACC module (camera or radar)
self.prev_distance_button = self.distance_button
if self.CP.carFingerprint in (SECOC_CAR - RADAR_ACC_CAR):
if self.CP.carFingerprint in (SECOC_CAR - RADAR_ACC_CAR) and self.carFingerprint != CAR.TOYOTA_WILDLANDER:
self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
elif self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
Expand Down Expand Up @@ -279,8 +279,9 @@ def get_can_parser(CP):
("GEAR_PACKET_HYBRID", 60),
("SECOC_SYNCHRONIZATION", 10),
("GAS_PEDAL", 42),
("PCM_CRUISE_4", 1),
]
if CP.carFingerprint not in RADAR_ACC_CAR and CP.carFingerprint != CAR.TOYOTA_WILDLANDER:
messages.append(("PCM_CRUISE_4", 1))
else:
messages.append(("VSC1S07", 20))
if CP.carFingerprint not in [CAR.TOYOTA_MIRAI]:
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17 changes: 17 additions & 0 deletions selfdrive/car/toyota/fingerprints.py
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Expand Up @@ -1047,6 +1047,23 @@
b'\x028646F4210100\x00\x00\x00\x008646G3305000\x00\x00\x00\x00',
],
},
CAR.TOYOTA_WILDLANDER: {
(Ecu.engine, 0x700, None): [
b'\x01896630R57001\x00\x00\x00\x00'
],
(Ecu.abs, 0x7b0, None): [
b'\x01F152642C4000\x00\x00\x00\x00'
],
(Ecu.eps, 0x7a1, None): [
b'\x018965B4221000\x00\x00\x00\x00'
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R01000\x00\x00\x00\x008646G4202000\x00\x00\x00\x00'
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301400\x00\x00\x00\x00'
],
},
CAR.TOYOTA_RAV4_TSS2: {
(Ecu.engine, 0x700, None): [
b'\x01896630R58000\x00\x00\x00\x00',
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4 changes: 4 additions & 0 deletions selfdrive/car/toyota/values.py
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Expand Up @@ -290,6 +290,10 @@ class CAR(Platforms):
[ToyotaCarDocs("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_WILDLANDER = ToyotaSecOCPlatformConfig(
[ToyotaCarDocs("Toyota Wildlander PHEV 2021", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=4155. * CV.LB_TO_KG, wheelbase=2.69, steerRatio=16.88, tireStiffnessFactor=0.5533),
)

# Lexus
LEXUS_CTH = PlatformConfig(
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