selfdrive.car.toyota package

Subpackages

• selfdrive.car.toyota.tests package
  • Submodules
  • selfdrive.car.toyota.tests.print_platform_codes module
  • selfdrive.car.toyota.tests.test_toyota module
    • TestToyotaFingerprint
      • TestToyotaFingerprint.test_fuzzy_excluded_platforms()
      • TestToyotaFingerprint.test_fw_format()
      • TestToyotaFingerprint.test_non_essential_ecus()
      • TestToyotaFingerprint.test_platform_code_ecus_available()
      • TestToyotaFingerprint.test_platform_codes_fuzzy_fw()
      • TestToyotaFingerprint.test_platform_codes_spot_check()
      • TestToyotaFingerprint.test_valid_fw_versions()
    • TestToyotaInterfaces
      • TestToyotaInterfaces.test_car_sets()
      • TestToyotaInterfaces.test_essential_ecus()
      • TestToyotaInterfaces.test_lta_platforms()
      • TestToyotaInterfaces.test_tss2_dbc()
    • check_fw_version()
  • Module contents

Submodules

selfdrive.car.toyota.carcontroller module

class selfdrive.car.toyota.carcontroller.CarController(dbc_name, CP, VM)

Bases: CarControllerBase

update(CC, CS, now_nanos)

selfdrive.car.toyota.carstate module

class selfdrive.car.toyota.carstate.CarState(CP)

Bases: CarStateBase

static get_cam_can_parser(CP)

static get_can_parser(CP)

update(cp, cp_cam)

selfdrive.car.toyota.fingerprints module

selfdrive.car.toyota.interface module

class selfdrive.car.toyota.interface.CarInterface(CP, CarController, CarState)

Bases: CarInterfaceBase

static get_pid_accel_limits(CP, current_speed, cruise_speed)

static init(CP, logcan, sendcan)

selfdrive.car.toyota.radar_interface module

class selfdrive.car.toyota.radar_interface.RadarInterface(CP)

Bases: RadarInterfaceBase

update(can_strings)

selfdrive.car.toyota.toyotacan module

selfdrive.car.toyota.toyotacan.create_acc_cancel_command(packer)

selfdrive.car.toyota.toyotacan.create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance)

selfdrive.car.toyota.toyotacan.create_fcw_command(packer, fcw)

selfdrive.car.toyota.toyotacan.create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down)

Creates a CAN message for the Toyota LTA Steer Command.

selfdrive.car.toyota.toyotacan.create_steer_command(packer, steer, steer_req)

Creates a CAN message for the Toyota Steer Command.

selfdrive.car.toyota.toyotacan.create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud)

selfdrive.car.toyota.values module

class selfdrive.car.toyota.values.CAR(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Platforms

LEXUS_CTH = 'LEXUS_CTH'

LEXUS_ES = 'LEXUS_ES'

LEXUS_ES_TSS2 = 'LEXUS_ES_TSS2'

LEXUS_GS_F = 'LEXUS_GS_F'

LEXUS_IS = 'LEXUS_IS'

LEXUS_IS_TSS2 = 'LEXUS_IS_TSS2'

LEXUS_LC_TSS2 = 'LEXUS_LC_TSS2'

LEXUS_NX = 'LEXUS_NX'

LEXUS_NX_TSS2 = 'LEXUS_NX_TSS2'

LEXUS_RC = 'LEXUS_RC'

LEXUS_RX = 'LEXUS_RX'

LEXUS_RX_TSS2 = 'LEXUS_RX_TSS2'

TOYOTA_ALPHARD_TSS2 = 'TOYOTA_ALPHARD_TSS2'

TOYOTA_AVALON = 'TOYOTA_AVALON'

TOYOTA_AVALON_2019 = 'TOYOTA_AVALON_2019'

TOYOTA_AVALON_TSS2 = 'TOYOTA_AVALON_TSS2'

TOYOTA_CAMRY = 'TOYOTA_CAMRY'

TOYOTA_CAMRY_TSS2 = 'TOYOTA_CAMRY_TSS2'

TOYOTA_CHR = 'TOYOTA_CHR'

TOYOTA_CHR_TSS2 = 'TOYOTA_CHR_TSS2'

TOYOTA_COROLLA = 'TOYOTA_COROLLA'

TOYOTA_COROLLA_TSS2 = 'TOYOTA_COROLLA_TSS2'

TOYOTA_HIGHLANDER = 'TOYOTA_HIGHLANDER'

TOYOTA_HIGHLANDER_TSS2 = 'TOYOTA_HIGHLANDER_TSS2'

TOYOTA_MIRAI = 'TOYOTA_MIRAI'

TOYOTA_PRIUS = 'TOYOTA_PRIUS'

TOYOTA_PRIUS_TSS2 = 'TOYOTA_PRIUS_TSS2'

TOYOTA_PRIUS_V = 'TOYOTA_PRIUS_V'

TOYOTA_RAV4 = 'TOYOTA_RAV4'

TOYOTA_RAV4H = 'TOYOTA_RAV4H'

TOYOTA_RAV4_TSS2 = 'TOYOTA_RAV4_TSS2'

TOYOTA_RAV4_TSS2_2022 = 'TOYOTA_RAV4_TSS2_2022'

TOYOTA_RAV4_TSS2_2023 = 'TOYOTA_RAV4_TSS2_2023'

TOYOTA_SIENNA = 'TOYOTA_SIENNA'

config: PlatformConfig

class selfdrive.car.toyota.values.CarControllerParams(CP)

Bases: object

ACCEL_MAX = 1.5

ACCEL_MIN = -3.5

ANGLE_RATE_LIMIT_DOWN = ([5, 25], [0.36, 0.26])

ANGLE_RATE_LIMIT_UP = ([5, 25], [0.3, 0.15])

STEER_ERROR_MAX = 350

STEER_MAX = 1500

STEER_STEP = 1

class selfdrive.car.toyota.values.Footnote(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

CAMRY = ("openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", Column.FSR_LONGITUDINAL, False, False)

class selfdrive.car.toyota.values.ToyotaCarDocs(name: str, package: str = 'All', requirements: str | None = None, video_link: str | None = None, footnotes: list[enum.Enum] = <factory>, min_steer_speed: float | None = None, min_enable_speed: float | None = None, auto_resume: bool | None = None, car_parts: openpilot.selfdrive.car.docs_definitions.CarParts = <factory>)

Bases: CarDocs

car_parts: CarParts

package: str = 'All'

class selfdrive.car.toyota.values.ToyotaFlags(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntFlag

ANGLE_CONTROL = 128

DISABLE_RADAR = 4

HYBRID = 1

NO_DSU = 16

NO_STOP_TIMER = 256

RADAR_ACC = 64

RADAR_CAN_FILTER = 1024

SMART_DSU = 2

SNG_WITHOUT_DSU = 512

TSS2 = 8

UNSUPPORTED_DSU = 32

class selfdrive.car.toyota.values.ToyotaTSS2PlatformConfig(car_docs: list[openpilot.selfdrive.car.docs_definitions.CarDocs], specs: openpilot.selfdrive.car.CarSpecs, dbc_dict: dict = <factory>, flags: int = 0, platform_str: str | None = None)

Bases: PlatformConfig

dbc_dict: dict

init()

selfdrive.car.toyota.values.get_platform_codes(fw_versions: list[bytes]) → dict[bytes, set[bytes]]

selfdrive.car.toyota.values.match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) → set[str]

Module contents