Toyota: 2021+ RAV4 Prime

[pd0wm]

Important

Before trying this PR, ensure the SecOCKey param is set with the correct key for your vehicle.
echo -n "ffffffffffffffffffffffffffffffff" > /data/params/d/SecOCKey

FW versions from 20ba9ade056a8c7b. Example route: 20ba9ade056a8c7b|2021-02-08--21-57-35.

TODO:

• Read key from param. Added to carParams, otherwise route wouldn't be reproducible without fetching the key from initData.
• Doesn't show up as a supported car
• Figure out if layout of PRE_COLLISION changed for stock AEB detection. (not a blocked for the port)
• Replace missing GEAR_PACKET
  • Check if weird GEAR_PACKET_HYBRID.COUNTER is Rav4 specific.
• Replace missing PCM_CRUISE
  • Implement gas pressed from new GAS_PEDAL message. (Still missing in panda)
  • Find new cruise state signal (e.g. nonAdaptive)
• Replace missing BRAKE_MODULE
• Add proper alerts for missing/wrong SecOCKey
• Add flags for panda safety mode for alternate Brake/Gas messages
  • Ensure tests between panda and CarState match
• Test if ACC Cancel spam works. Looks like the ACCEL_CMD was moved to a message with SecOC, but the CANCEL_REQ is still in the old message without MAC.

Missing PCM_CRUISE.

There seems to be a new message on 0x1a2 that has a bit that corresponds to ACCEL_CMD_ALT != 0. 0x1a2 seems to be a different message than other TSS2 cars.

Missing GEAR_PACKET/ GEAR_PACKET_HYBRID

There is no GEAR_PACKET, but GEAR_PACKET_HYBRID seems a good replacement. The COUNTER doesn't seem to be a real counter. Removed it, but check if this is a Rav4 Prime specific quirk. Counter is also fake on a Corolla Hybrid route.

I'm switching to the new message automatically when GEAR_PACKET is missing, but GEAR_PACKET_HYBRID is present. I need to check if this doesn't break any other cars.

Missing BRAKE_MODULE

There seem to be two new messages related to the brakes 0xfc and 0x101. Unfortunately they are not present on other models, so they can't be compared directly. I was only able to reference against PCM_CRUISE_2.BRAKE_PRESSED.

I put the new messages in the SecOC dbc for now. Let's see if all SecOC cars switched to this new message, or if this is a quirk for the RAV4 Prime specifically.

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[adeebshihadeh]

I added a TODO to make sure this doesn't show up in the docs as supported.

• Figure out if layout of PRE_COLLISION changed for stock AEB detection.

No need to block the port on this.

[pd0wm]

What do I need to check to make sure it's not showing up as supported? It's not in the CAR_INFO list, and rerunning docs.py seems to cause no changes.

[adeebshihadeh]

What do I need to check to make sure it's not showing up as supported? It's not in the CAR_INFO list, and rerunning docs.py seems to cause no changes.

I think you'll need to set it to None in CarInfo. cc @sshane

[sshane]

Yes None should work. It won't have its fingerprints auto updated with our bot though. We can add a field to hide it if we care about that

[github-actions]

Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:

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[sshane]

We've moved the car interfacing code to our opendbc repository, which is now the new home for car ports and fingerprints. Please re-open your pull request against opendbc at your convenience by using this command below. This will transform all changes under selfdrive/car/ to opendbc_repo/opendbc/car/. Make sure you have initialized submodules beforehand and have checked out the latest opendbc commit.

PR_NUMBER=33045
curl -L https://github.com/commaai/openpilot/pull/$PR_NUMBER.patch | sed -e 's/selfdrive\/car/opendbc_repo\/opendbc\/car/g' | git apply -v --reject

Simply replace the PR number with your own. Once done, add the files, fix any conflicts, and open a new PR. Alternatively, you may start a new PR from scratch if that is easier for you.

[nelsonjchen]

Willem: "If somebody wants to finish the rav4 prime port, feel free to take my code and reopen the PR"