Toyota: Add 2021-23 Toyota Sienna with SecOC (#1344)

* from @pd0wm #1005 * from @pd0wm commaai/openpilot#31179 * we did need that flag rename * those flags were numbered like that for a reason * no more bustime * add secOCKey to structs * hack around new pitch value for now * secOCKey placeholder * help the test along for now * codespell disapproves of my creative vision * add crypto dependency * the other one * the other other one * temp use SecOC branch of Panda * i am the panda, for now * propitiate static type checker * on second thought, moving car.capnp is a good idea * remove the SecOC key from CarParams * remove SecOC key reading from Toyota port * add secoc_key to CS/CC * update SecOC key references * default key in interfaces for tests * more CarParams.SecurityConfig * set secOcRequired at startup for SecOC car * see if type checker likes this better * santa please bring car.capnp back soon * list -> flag * diff reduction: won't need the flag rename * add IDLE_COAST signal * regen RAV4 DBC * consolidate and remove ALT_GAS_MSG flag * consolidate and remove GEAR_PACKET_HYBRID flag * cleanup pitch signal * cleanup can_gear * cleanup SECOC_SYNCHRONIZATION * more cleanup * cleanup Mirai * FLAG.value consistency, in case capnp move needs this * not necessary, reduce diff with master * prettier * validation like this should be an offline test * match non-SecOC LTA message * follow secoc library move * repack flag values * whitespace fix * cleanup stockAeb * comment not necessary * add explicit FIXME for pandacan ref * how did that sneak back in * mention why CarDocs are missing * use carlog to note wrong key problems * limit logging volume * add SecOC Sienna, FW from 970f02decf19930c/00000007--744397430a * add FW from 0bbe367c98fa1538/00000001--1c0d7ae2e4 * add CI test route for Sienna * SR closer to online learned, tweak mass to Edmunds value * add FW from 8bfb000e03b2a257/00000004--f9eee5f52e * fix transposition
commaai · Oct 7, 2024 · 0ebc4cb · 0ebc4cb
1 parent 78fdc46
commit 0ebc4cb
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diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
@@ -207,6 +207,7 @@ class CarTestRoute(NamedTuple):
  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2), # hybrid
  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid
  CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC
+ CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN), # SecOC
  CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid
  CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),

diff --git a/opendbc/car/torque_data/substitute.toml b/opendbc/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_4TH_GEN" = "TOYOTA_RAV4_TSS2"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
 "LEXUS_ES" = "TOYOTA_CAMRY"

diff --git a/opendbc/car/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
@@ -1248,6 +1248,28 @@
  b'8646F0801100\x00\x00\x00\x00',
  ],
  },
+ CAR.TOYOTA_SIENNA_4TH_GEN: {
+ (Ecu.engine, 0x700, None): [
+ b'\x01896630841000\x00\x00\x00\x00',
+ b'\x01896630857101\x00\x00\x00\x00',
+ b'\x01896630864000\x00\x00\x00\x00',
+ ],
+ (Ecu.abs, 0x7b0, None): [
+ b'\x01F15260815100\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'\x018821F3301500\x00\x00\x00\x00',
+ ],
+ (Ecu.fwdCamera, 0x750, 0x6d): [
+ b'\x028646F0802200\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+ b'\x028646F0802300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+ b'\x028646F0802400\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+ ],
+ },
  CAR.LEXUS_CTH: {
  (Ecu.dsu, 0x791, None): [
  b'881517601100\x00\x00\x00\x00',

diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
@@ -67,7 +67,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
  # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
  stop_and_go = candidate != CAR.TOYOTA_AVALON
 
- 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_4TH_GEN):
  ret.lateralTuning.init('pid')
  ret.lateralTuning.pid.kiBP = [0.0]
  ret.lateralTuning.pid.kpBP = [0.0]

diff --git a/opendbc/car/toyota/values.py b/opendbc/car/toyota/values.py
@@ -266,6 +266,14 @@ class CAR(Platforms):
  dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  flags=ToyotaFlags.NO_STOP_TIMER,
  )
+ TOYOTA_SIENNA_4TH_GEN = PlatformConfig(
+ # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md
+ # [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),
+ dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+ flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
+ )
 
  # Lexus
  LEXUS_CTH = PlatformConfig(