2021+ Rav4 Prime #1005
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2021+ Rav4 Prime #1005
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sshane
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Jan 30, 2024
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| BO_ 305 LTA_RELATED_2: 8 XXX | ||
| SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX | ||
| SG_ STEERING_ANGLE_RELATED : 23|16@0- (1,0) [0|65535] "" XXX | ||
| SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX | ||
| SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX | ||
| SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX |
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| BO_ 305 LTA_RELATED_2: 8 XXX | |
| SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX | |
| SG_ STEERING_ANGLE_RELATED : 23|16@0- (1,0) [0|65535] "" XXX | |
| SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX | |
| SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX | |
| SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX | |
| BO_ 305 LTA_RELATED_2: 8 XXX | |
| SG_ STEER_REQUEST_1 : 0|1@0+ (1,0) [0|1] "" XXX | |
| SG_ STEER_REQUEST_2 : 3|1@0+ (1,0) [0|1] "" XXX | |
| SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX | |
| SG_ STEERING_ANGLE_CMD : 23|16@0- (0.0573,0) [0|65535] "" XXX | |
| SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX | |
| SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX | |
| SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX |
Think they moved the angle request to this message, you can see the angle snap to the current angle when LKAS_HUD reports no LKAS:
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jyoung8607
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Superseded by #1287. |
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I’m curious to know if the Comma 3X is compatible with the 2021 RAV4 Prime. |
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The answer is a provisional yes, it's a little complicated. More info at https://discord.comma.ai in #toyota-security. |
jyoung8607
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Oct 4, 2024
* 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 * prep for new CARS.md infra * pandacan back to panda master
jyoung8607
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Oct 4, 2024
* 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 migration entry for old routes * add FW from 2fdfcfb945894324/00000151--11c864bd11 * add FW from 955536bf30ea4500/00000266--b60f72d541 * add FW from 5ac52f5bc37079ce/00000004--dd8686b2d0 * Revert "add migration entry for old routes" This reverts commit 9791f10.
jyoung8607
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Oct 7, 2024
* 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
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Example Route:
20ba9ade056a8c7b|2021-02-08--21-57-35BRAKE_MODULE,GEAR_PACKET,PCM_CRUISE.KINEMATICSis also missing, but not used by openpilot.STEERING_LKA,LTA_RELATED(related to LTA based on FW analysis, no LTA drive seen yet.STEERING_LTAdoes not have SeOC),PRE_COLLISION(TheSTATEfield is now occupied by the MAC. How does the new layout work?).PRE_COLLISION_2.GEAR_PACKET_HYBRID.COUNTER, it's not a counter and fails some checks in openpilot. Also see this corolla hybrid route075b133b6181e058|2024-01-26--10-39-08.