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Prius Prime differentiated from Prius #294

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Prius Prime differentiated from Prius #294

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e5e35e4
Separated Prius Prime from Prius.
ErichMoraga Jul 15, 2018
191e510
Separated Prius Prime from Prius.
ErichMoraga Jul 15, 2018
23c488e
Separated Prius Prime from Prius.
ErichMoraga Jul 15, 2018
75c0a2e
Changed CAR.PRIME to CAR.PRIUS_PRIME
ErichMoraga Jul 16, 2018
f349ee1
Changed CAR.PRIME to CAR.PRIUS_PRIME
ErichMoraga Jul 16, 2018
8c4e17e
Changed CAR.PRIME to CAR.PRIUS_PRIME
ErichMoraga Jul 16, 2018
19ddc0e
PRIUS_PRIME = "TOYOTA PRIUS PRIME 2017" change
ErichMoraga Jul 16, 2018
7f19a0c
Small PID adjustments to make steering tighter
ErichMoraga Jul 22, 2018
280840f
Lessened prev. PID increase. Decreased steerActuatorDelay.
ErichMoraga Jul 22, 2018
a1ce25a
Added missing steerKf PID change from before.
ErichMoraga Jul 22, 2018
46c41fe
Parity w/ erichonly K values w/ 4 differences...
ErichMoraga Jul 23, 2018
80d5d50
Slight steerActuatorDelay incr. to match erichonly
ErichMoraga Jul 23, 2018
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6 changes: 3 additions & 3 deletions selfdrive/car/toyota/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

def parse_gear_shifter(can_gear, car_fingerprint):
# TODO: Use values from DBC to parse this field
if car_fingerprint == CAR.PRIUS:
if car_fingerprint in [CAR.PRIUS, CAR.PRIUS_PRIME]:
if can_gear == 0x0:
return "park"
elif can_gear == 0x1:
Expand Down Expand Up @@ -79,7 +79,7 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]

if CP.carFingerprint == CAR.PRIUS:
if CP.carFingerprint in [CAR.PRIUS, CAR.PRIUS_PRIME]:
signals += [("STATE", "AUTOPARK_STATUS", 0)]

return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
Expand Down Expand Up @@ -163,7 +163,7 @@ def update(self, cp):
self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
if self.CP.carFingerprint == CAR.PRIUS:
if self.CP.carFingerprint in [CAR.PRIUS, CAR.PRIUS_PRIME]:
self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
else:
self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
10 changes: 10 additions & 0 deletions selfdrive/car/toyota/interface.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,16 @@ def get_params(candidate, fingerprint):
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
# TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
ret.steerActuatorDelay = 0.25
elif candidate == CAR.PRIUS_PRIME:
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.00 # unknown end-to-end spec
tire_stiffness_factor = 0.6371
ret.mass = 3370 * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.45], [0.015]]
ret.steerKf = 0.0000675 # full torque for 10 deg at 80mph means 0.00007818594
# TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
ret.steerActuatorDelay = 0.43

elif candidate in [CAR.RAV4, CAR.RAV4H]:
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
Expand Down
81 changes: 41 additions & 40 deletions selfdrive/car/toyota/values.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

class CAR:
PRIUS = "TOYOTA PRIUS 2017"
PRIUS_PRIME = "TOYOTA PRIUS PRIME 2017"
RAV4H = "TOYOTA RAV4 2017 HYBRID"
RAV4 = "TOYOTA RAV4 2017"
COROLLA = "TOYOTA COROLLA 2017"
Expand All @@ -15,48 +16,48 @@ class ECU:


# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),

(0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),

(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),

(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),

(0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
(0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
(0x128, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),

(0x292, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
(0x283, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),

(0x240, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x241, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x244, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x245, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
(0x248, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
(0x344, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),

(0x160, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),

(0x32E, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
(0x365, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
(0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),

(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),
(0x367, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),

(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
(0x414, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
(0x489, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
(0x130, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
(0x466, ECU.CAM, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
(0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
(0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
(0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
(0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
(0x396, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
(0x43A, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
(0x43B, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x497, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x4CC, ECU.APGS, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x470, ECU.DSU, (CAR.PRIUS, CAR.PRIUS_PRIME, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
]


Expand All @@ -78,9 +79,8 @@ def check_ecu_msgs(fingerprint, candidate, ecu):
}],
CAR.PRIUS: [{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Prius Prime
{
}],
CAR.PRIUS_PRIME: [{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Taiwanese Prius Prime
Expand All @@ -104,6 +104,7 @@ def check_ecu_msgs(fingerprint, candidate, ecu):
CAR.RAV4H: dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.RAV4: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.PRIUS_PRIME: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
}