Toyota: Add Lexus GS F 2016 (commaai#30245)

* added GSF ECU values

* Added Lexus GSF data

* added route for GSF

* test RC code

* revert fingerprints back from RC test to GSF

* fixed type for route

* specify route segment for GSF

* added GSF to torque substitute

* removed year designation for GSF

* added MY back to all "Lexus GSF"

* removed route, don't think it does anything

* move GSF ecu values to better place

* remove whitespace from toyota > interface.py

* added in public route for LEXUS_GSF

* added GSF to docs

* update test route

* update test route

* update 266 Supported cars

* trying different dbc

* updated to working route

* clean up

* add to releases

* updated test route

* new route

* docs

* slightly better torque params

---------

Co-authored-by: cchui <[email protected]>
Co-authored-by: Shane Smiskol <[email protected]>

RELEASES.md

@@ -13,6 +13,7 @@ Version 0.9.5 (2023-11-16)
 * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Kia Optima Hybrid 2019 support
+* Lexus GS F 2016 support thanks to snyperifle!
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 267 Supported Cars
+# 268 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -153,6 +153,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||

selfdrive/car/tests/routes.py

@@ -193,6 +193,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
   CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),

selfdrive/car/torque_data/override.yaml

@@ -63,6 +63,7 @@ HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
 HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
 KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
 HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
+LEXUS GS F 2016: [2.5, 2.5, 0.08]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/toyota/interface.py

@@ -163,6 +163,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.tireStiffnessFactor = 0.444
       ret.mass = 3736.8 * CV.LB_TO_KG
 
+    elif candidate == CAR.LEXUS_GS_F:
+      ret.wheelbase = 2.84988
+      ret.steerRatio = 13.3
+      ret.tireStiffnessFactor = 0.444
+      ret.mass = 4034. * CV.LB_TO_KG
+
     elif candidate == CAR.LEXUS_CTH:
       stop_and_go = True
       ret.wheelbase = 2.60

selfdrive/car/toyota/values.py

@@ -86,6 +86,7 @@ class CAR(StrEnum):
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
+  LEXUS_GS_F = "LEXUS GS F 2016"
 
 
 class Footnote(Enum):
@@ -194,6 +195,7 @@ class ToyotaCarInfo(CarInfo):
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
+  CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"),
   CAR.LEXUS_NX: [
     ToyotaCarInfo("Lexus NX 2018-19"),
     ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
@@ -1717,6 +1719,26 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
         b'8646F3302200\x00\x00\x00\x00',
       ],
   },
+  CAR.LEXUS_GS_F: {
+    (Ecu.engine, 0x7E0, None): [
+      b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152630700\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881513016200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B30551\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F3002100\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_NX: {
     (Ecu.engine, 0x700, None): [
       b'\x01896637850000\x00\x00\x00\x00',
@@ -2081,6 +2103,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
 }
 
 # These cars have non-standard EPS torque scale factors. All others are 73
@@ -2094,7 +2117,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
 
 # the DSU uses the AEB message for longitudinal on these cars
-UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
+UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F}
 
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}