2021 Rav4 Prime gets CAN Error even after the fingerprint is added (STEERING_LKA and PRE_COLLISION seems to have a different checksum scheme?)

[nelsonjchen]

Describe the bug

2021 Rav4 Prime gets CAN Error even after the fingerprint is added.

We've checked the setup against another Rav4 and the harness and C2 do not show the same error message and believe the hardware to be sound.

We get this error:

How to reproduce or log data

With a known-good Harness + C2 setup installed in the Rav4 Prime, checkout this branch on the C2: https://github.com/nelsonjchen/openpilot/tree/rav4_prime_fw @ commit 640ae8b

Start the Rav4 Prime.

Expected behavior

No CAN Error or CHECKSUM FAIL error in tmux.

Device/Version information (please complete the following information):

• Device: Comma 2
• Dongle ID: 54bb533aec9ff844
• Route: 54bb533aec9ff844|2020-08-29--13-31-50
• Timestamp: 158433520979974 from logs is when the error message is printed to the screen.
• Version: https://github.com/nelsonjchen/openpilot/tree/rav4_prime_fw @ 640ae8b
• Car make/model: 2021 RAV4 Prime (VIN ends in 002147)

Additional context

I've been helping matty#8553 on Discord add support for his 2021 Rav4 Prime to openpilot. Many others and I thought this was as simple as adding the fingerprint for the TSS2 Rav4 Prime to OP. This turns out to not be the case.

After reproduction, we have SSH'd into the C2 and taken a look at tmux a, we see CHECKSUM FAIL spam:

Looking at Cabana, it seems that STEERING_LKA is now 8 bytes in size up from 5 bytes in the past and that PRE_COLLISION IS size 8 up from 7.

I took a look at STEERING_LKA and tried the existing checksum algorithm in a scratch-program, I implemented Toyota's checksum per the IOActive document to the last value and seeing if that pre-existing approach works for the RAV4 Prime's 8 byte STEERING_LKA. My unit tests work for my Corolla 2020's data. It doesn't for the 2021 Rav4 Prime's data and they don't match.

The last four bytes for STEERING_LKA are rapidly changing.

I haven't taken a look at PRE_COLLISION other than noticing the size change. Using the existing algorithm on a value here doesn't seem to work either.

Unfortunately, I've hit the limits of what I can do right now. I think Toyota has changed the checksum scheme or something for STEERING_LKA and PRE_COLLISION.

I am not the owner of this 2021 Rav4 Prime, matty#8553 on Discord is.

Please reach out to matty#8553 if you need him to perform some diagnosis. If there may be something out of his depth and Comma staff or someone from the community is not available or willing to help him through the "boring" diagnosis parts such as setup/SSH/forks/etc, let me know and I will be happy to help walk matty#8553 through those tasks.

[adeebshihadeh]

This isn’t an issue - the RAV4 Prime isn’t listed as a supported car.

[jassdsu]

I have the same issue on my 2020 rav4 hybrid- I emailed support. Not sure if there is a solution or even if this is a supported vehicle anymore.

[wmoralesap]

Did you have any answer? I have the same issue with my 2020 rav4 hybrid.

[jassdsu]

I have 2020 Hybrid- you need change the program to the master-ci version. You need help with that? On Sep 21, 2020, at 4:41 AM, Walter Morales <notifications@github.com> wrote:  Did you have any answer? I have the same issue with my 2020 rav4 hybrid. — You are receiving this because you commented. Reply to this email directly, view it on GitHub<#2103 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANQJ574A4KIUP5ELVVCP4ADSG4UVLANCNFSM4QPLSTSA>.

[wmoralesap]

Yes please! How do I change to the master-ci version?

[jassdsu]

Firstly, have you verified that someone is using the Prime with Comma AI? I did have the same error message so it sounds similar. My parents are awaiting on their Prime to come in so I’ll be figuring this out soon- hopefully. Start by downloading workbench (you’ll find the link for it on commas website) on your PC, and plugging your Comma unit in somewhere nearby on the same wifi as your PC. Workbench communicates with the unit and it’ll allow you to update the operating system. I have to track down the step by step instructions- its really not bad but it took me a while to understand how everything works. From: Walter Morales <notifications@github.com> Sent: Monday, September 21, 2020 8:11 AM To: commaai/openpilot <openpilot@noreply.github.com> Cc: Jason Purkiss <Jpurkiss@Adventreo.com>; Comment <comment@noreply.github.com> Subject: Re: [commaai/openpilot] 2021 Rav4 Prime gets CAN Error even after the fingerprint is added (STEERING_LKA and PRE_COLLISION seems to have a different checksum scheme?) (#2103) Yes please! How do I change to the master-ci version? — You are receiving this because you commented. Reply to this email directly, view it on GitHub<#2103 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANQJ5762BPGJ5JNL2QJXVETSG5NHLANCNFSM4QPLSTSA>.

[wmoralesap]

I already changed to master-ci version but now says dashcam mode: Car unrecognized.

[jassdsu]

Nice work, now it needs to pair with your vehicle. Leave the comma on for ten minutes and it should locate it. If not, restart the comma and give it another 10 minutes. You can turn your car off while doing this. From: Walter Morales <notifications@github.com> Sent: Monday, September 21, 2020 8:49 AM To: commaai/openpilot <openpilot@noreply.github.com> Cc: Jason Purkiss <Jpurkiss@Adventreo.com>; Comment <comment@noreply.github.com> Subject: Re: [commaai/openpilot] 2021 Rav4 Prime gets CAN Error even after the fingerprint is added (STEERING_LKA and PRE_COLLISION seems to have a different checksum scheme?) (#2103) I already changed to master-ci version but now says dashcam mode: Car unrecognized. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

[wmoralesap]

I already tried it. The weirdest thing is that when thr engine is off, the comma 2 device shows vehicle connected. but when I turn it on, goes to dashcam mode. Do I need to fingerprint it?

[jassdsu]

Did it take about 30 minutes to install master-CI? It takes a while and I’m wondering if it didn’t finish installing. I had a similar problem before I installed master-ci From: Walter Morales <notifications@github.com> Sent: Monday, September 21, 2020 9:16 AM To: commaai/openpilot <openpilot@noreply.github.com> Cc: Jason Purkiss <Jpurkiss@Adventreo.com>; Comment <comment@noreply.github.com> Subject: Re: [commaai/openpilot] 2021 Rav4 Prime gets CAN Error even after the fingerprint is added (STEERING_LKA and PRE_COLLISION seems to have a different checksum scheme?) (#2103) I already tried it. The weirdest thing is that when thr engine is off, the comma 2 device shows vehicle connected. but when I turn it on, goes to dashcam mode. Do I need to fingerprint it? — You are receiving this because you commented. Reply to this email directly, view it on GitHub<#2103 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ANQJ57YYXTYSGOUIWPASS2LSG5U2LANCNFSM4QPLSTSA>.

[wmoralesap]

Yeah, installing master-ci took like 30 minutes.