Reverse engineered can bus messages to enable the automotive Radar found on 2016+ Toyotas with TSS (corolla, Rav4, Highlander, camry). If you got your radar hooked up by are disappointed by invalid tracks, this will help you turn the radar on so you see something!
You'll need:
- Python3
- pip3 install cantools
- pip3 install can
you need to run
git submodule update --init
to fetch the forked opendbc repo thats part of this repository.
Make sure that can1 is connected to the RADAR can bus (Pin 5/6 on the radar unit) and can0 to the CAR CAN bus. (pin 3/2)
Just run ./spoof_dsu.py and you should see output on your terminal like:
faraz@faraz-XPS-15-9560:~/Code/toyoyta_radar_control_can$ ./spoof_dsu.py
Got VALID track at dist: 2.44
Got VALID track at dist: 2.44
Got VALID track at dist: 2.4
Got VALID track at dist: 2.4
Got VALID track at dist: 2.4
Got VALID track at dist: 2.4
Got VALID track at dist: 2.4
Got VALID track at dist: 2.4
Rejoice! Your radar is alive!
Heres the pinout to get you started:
| Pin | Usage |
|---|---|
| 3 | Car can High |
| 2 | Car can Low |
| 5 | Radar can High |
| 6 | Radar can Low |
| 8 | 12V VCC |
| 1 | GND |
I have used these two CAN adaptors successfully:
- Carloop with CAN Hitch: https://www.amazon.com/Carloop-CAN-Hitch-Particle-microcontroller/dp/B06XXRBVFW/ref=sr_1_1?ie=UTF8&qid=1524621189&sr=8-1&keywords=carloop+can+hitch
You'll need to buy a particle photon and flash it with the SocketCAN application they have for it to work with Socketcan on linux/mac
- http://canable.io/ - The default SL-CAN implementation sucks! (it errors out my socket can interface after a while). You'll need to reflash the STM with the new candlelight_fw which used the gs_usb driver so it drivers without socketcan. In this mode this adaptor is rock solid.
You can also use comma.ai's Panda if you can hunt down the can pins on the OBD connector
And thats it!
Ive been told that the 2018 Toyotas might have a different unit (made by Continental instead of Denso) so consider this code fully tested ONLY on the 2017 Denso radar units.
I actually didn't do the hard work here - the fine folks at comma.ai did! I basically connected this radar to a NEO running openpilot then fooled it into thinking that it needs to turn on using @wocsor's Radar Spoofer. I then sniffed out the exact messages openpilot was sending and correlated then to what I THOUGHT it was sending using openpilot code. Keep on doing this for 12 hours and you are bound to stumble upon the right sequence :D
Im building a opensource highway autopilot system for my Kia Soul EV using the Polysync OSCC. Its called OpenCaret. I need a radar to do ACC