2021+ Rav4 Prime

[pd0wm]

Example Route: 20ba9ade056a8c7b|2021-02-08--21-57-35

• Missing are BRAKE_MODULE, GEAR_PACKET, PCM_CRUISE. KINEMATICS is also missing, but not used by openpilot.
• Messages with SecOC MAC: STEERING_LKA, LTA_RELATED (related to LTA based on FW analysis, no LTA drive seen yet. STEERING_LTA does not have SeOC), PRE_COLLISION (The STATE field is now occupied by the MAC. How does the new layout work?). PRE_COLLISION_2.
• Remove GEAR_PACKET_HYBRID.COUNTER, it's not a counter and fails some checks in openpilot. Also see this corolla hybrid route 075b133b6181e058|2024-01-26--10-39-08.

[sshane]

Suggested change

	BO_ 305 LTA_RELATED_2: 8 XXX
	SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX
	SG_ STEERING_ANGLE_RELATED : 23|16@0- (1,0) [0|65535] "" XXX
	SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
	SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
	SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
	BO_ 305 LTA_RELATED_2: 8 XXX
	SG_ STEER_REQUEST_1 : 0|1@0+ (1,0) [0|1] "" XXX
	SG_ STEER_REQUEST_2 : 3|1@0+ (1,0) [0|1] "" XXX
	SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX
	SG_ STEERING_ANGLE_CMD : 23|16@0- (0.0573,0) [0|65535] "" XXX
	SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
	SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
	SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX

Think they moved the angle request to this message, you can see the angle snap to the current angle when LKAS_HUD reports no LKAS: