ROS2 driver for Denso Toyota/Lexus radar.
Adapted from excellent work of Faraz Khan and OpenCaret https://github.com/frk2/opencaret.
All hard work is done by him and Comma.ai.
The reason for this repo is that I wanted to be able to have a stand-alone ROS2 driver for this driver. Opencaret is of this date in ROS1 instead.
You need a Sumitomo 8 pin female connector to connect to the radar. https://www.ebay.com/itm/Molex-GREY-8-Pin-Wire-Connector-Harley-Waterproof-Sealed-Kit-MX150/232935572873?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649
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!