From 8568bb1caa551266d4d3ab8b7bfc0a122a7f3b7a Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Fri, 13 Oct 2023 20:58:57 -0500
Subject: [PATCH 01/26] added GSF ECU values

---
 selfdrive/car/toyota/values.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 7d26ffd2e78df5..032344e8c97503 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -95,6 +95,7 @@ class CAR(StrEnum):
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
+  LEXUS_GSF = "LEXUS GSF 2016"
 
 
 class Footnote(Enum):
@@ -1109,6 +1110,26 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_GSF: {
+    (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.HIGHLANDER: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E09000\x00\x00\x00\x00',

From 1b627439a0daa75666ccc6d0a37b870ad16b5a85 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Fri, 13 Oct 2023 21:45:22 -0500
Subject: [PATCH 02/26] Added Lexus GSF data

---
 selfdrive/car/toyota/interface.py | 6 ++++++
 selfdrive/car/toyota/values.py    | 6 ++++--
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 8cc1a95e2ee18e..8f6a9b3eae49fb 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -163,6 +163,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.steerRatio = 13.3
       ret.tireStiffnessFactor = 0.444
       ret.mass = 3736.8 * CV.LB_TO_KG
+    
+    elif candidate in (CAR.LEXUS_GSF):
+      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
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 032344e8c97503..3d92ef564021ec 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -186,6 +186,7 @@ class ToyotaCarInfo(CarInfo):
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
+  CAR.LEXUS_GSF: ToyotaCarInfo("Lexus GSF 2016"),
   CAR.LEXUS_NX: [
     ToyotaCarInfo("Lexus NX 2018-19"),
     ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
@@ -385,7 +386,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
     Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
-                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
+                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_GSF],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -2280,6 +2281,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_GSF: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
 }
 
 # These cars have non-standard EPS torque scale factors. All others are 73
@@ -2294,7 +2296,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY, CAR.CAMRYH}
 
 # 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_GSF}
 
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}

From 1282e4848ce4c703e2967cc1387418c385680821 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Fri, 13 Oct 2023 23:35:01 -0500
Subject: [PATCH 03/26] added route for GSF

---
 selfdrive/car/tests/routes.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 298e2bfec41ee6..3f766b9cd705f5 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -192,6 +192,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   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("ab9b64a5e5960cba|2023-10-14--00-38-19", TOYOTA.GSF),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),

From d8cae2478e9ff257bd42bed640d2e6a1629d4ff9 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Fri, 13 Oct 2023 23:35:42 -0500
Subject: [PATCH 04/26] test RC code

---
 selfdrive/car/toyota/values.py | 56 +++++++++++++++++-----------------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3d92ef564021ec..2f871507bc7ef8 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1111,7 +1111,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_GSF: {
+  CAR.LEXUS_RC: {
     (Ecu.engine, 0x7E0, None): [
       b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -1974,33 +1974,33 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_RC: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896632478200\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152624150\x00\x00\x00\x00\x00\x00',
-      b'F152624221\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881512407000\x00\x00\x00\x00',
-      b'881512409100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B24081\x00\x00\x00\x00\x00\x00',
-      b'8965B24320\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F2401200\x00\x00\x00\x00',
-      b'8646F2402200\x00\x00\x00\x00',
-    ],
-  },
+  # CAR.LEXUS_RC: {
+  #   (Ecu.engine, 0x700, None): [
+  #     b'\x01896632478200\x00\x00\x00\x00',
+  #   ],
+  #   (Ecu.engine, 0x7e0, None): [
+  #     b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
+  #   ],
+  #   (Ecu.abs, 0x7b0, None): [
+  #     b'F152624150\x00\x00\x00\x00\x00\x00',
+  #     b'F152624221\x00\x00\x00\x00\x00\x00',
+  #   ],
+  #   (Ecu.dsu, 0x791, None): [
+  #     b'881512407000\x00\x00\x00\x00',
+  #     b'881512409100\x00\x00\x00\x00',
+  #   ],
+  #   (Ecu.eps, 0x7a1, None): [
+  #     b'8965B24081\x00\x00\x00\x00\x00\x00',
+  #     b'8965B24320\x00\x00\x00\x00\x00\x00',
+  #   ],
+  #   (Ecu.fwdRadar, 0x750, 0xf): [
+  #     b'8821F4702300\x00\x00\x00\x00',
+  #   ],
+  #   (Ecu.fwdCamera, 0x750, 0x6d): [
+  #     b'8646F2401200\x00\x00\x00\x00',
+  #     b'8646F2402200\x00\x00\x00\x00',
+  #   ],
+  # },
   CAR.LEXUS_RX: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E36200\x00\x00\x00\x00',

From 2662a41fae5519450d7a3834c9ac367093340a62 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 00:07:37 -0500
Subject: [PATCH 05/26] revert fingerprints back from RC test to GSF

---
 selfdrive/car/toyota/values.py | 56 +++++++++++++++++-----------------
 1 file changed, 28 insertions(+), 28 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2f871507bc7ef8..3d92ef564021ec 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1111,7 +1111,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_RC: {
+  CAR.LEXUS_GSF: {
     (Ecu.engine, 0x7E0, None): [
       b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -1974,33 +1974,33 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  # CAR.LEXUS_RC: {
-  #   (Ecu.engine, 0x700, None): [
-  #     b'\x01896632478200\x00\x00\x00\x00',
-  #   ],
-  #   (Ecu.engine, 0x7e0, None): [
-  #     b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
-  #   ],
-  #   (Ecu.abs, 0x7b0, None): [
-  #     b'F152624150\x00\x00\x00\x00\x00\x00',
-  #     b'F152624221\x00\x00\x00\x00\x00\x00',
-  #   ],
-  #   (Ecu.dsu, 0x791, None): [
-  #     b'881512407000\x00\x00\x00\x00',
-  #     b'881512409100\x00\x00\x00\x00',
-  #   ],
-  #   (Ecu.eps, 0x7a1, None): [
-  #     b'8965B24081\x00\x00\x00\x00\x00\x00',
-  #     b'8965B24320\x00\x00\x00\x00\x00\x00',
-  #   ],
-  #   (Ecu.fwdRadar, 0x750, 0xf): [
-  #     b'8821F4702300\x00\x00\x00\x00',
-  #   ],
-  #   (Ecu.fwdCamera, 0x750, 0x6d): [
-  #     b'8646F2401200\x00\x00\x00\x00',
-  #     b'8646F2402200\x00\x00\x00\x00',
-  #   ],
-  # },
+  CAR.LEXUS_RC: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896632478200\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152624150\x00\x00\x00\x00\x00\x00',
+      b'F152624221\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881512407000\x00\x00\x00\x00',
+      b'881512409100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B24081\x00\x00\x00\x00\x00\x00',
+      b'8965B24320\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F2401200\x00\x00\x00\x00',
+      b'8646F2402200\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_RX: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E36200\x00\x00\x00\x00',

From ae75a072ae319d57ad3e663a97e7eb9356a96b93 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 00:13:58 -0500
Subject: [PATCH 06/26] fixed type for route

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 3f766b9cd705f5..5faccf7ff6ad1b 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -192,7 +192,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   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("ab9b64a5e5960cba|2023-10-14--00-38-19", TOYOTA.GSF),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-14--00-38-19", TOYOTA.LEXUS_GSF),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),

From 7b6b082f3fe8fc213a6047632426de1190ea0bb3 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 00:16:24 -0500
Subject: [PATCH 07/26] specify route segment for GSF

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 5faccf7ff6ad1b..e45358aadeda51 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -192,7 +192,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   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("ab9b64a5e5960cba|2023-10-14--00-38-19", TOYOTA.LEXUS_GSF),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-14--00-38-19", TOYOTA.LEXUS_GSF, segment=1),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),

From df5ed0ad47373865463d5e348756c0605b469f73 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 00:47:51 -0500
Subject: [PATCH 08/26] added GSF to torque substitute

---
 selfdrive/car/torque_data/substitute.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index 9decbbfa076177..7d2ddf3b6c3441 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -14,6 +14,7 @@ LEXUS CT HYBRID 2018 : LEXUS NX 2018
 LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS RC 2020: LEXUS NX 2020
+LEXUS GSF: LEXUS NX 2020
 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 

From f86734f9b63aba3af859f0686f1485dd1c3e2a3a Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 00:51:03 -0500
Subject: [PATCH 09/26] removed year designation for GSF

---
 selfdrive/car/toyota/values.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3d92ef564021ec..527515e93c9ef6 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -95,7 +95,7 @@ class CAR(StrEnum):
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
-  LEXUS_GSF = "LEXUS GSF 2016"
+  LEXUS_GSF = "LEXUS GSF"
 
 
 class Footnote(Enum):
@@ -186,7 +186,7 @@ class ToyotaCarInfo(CarInfo):
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
-  CAR.LEXUS_GSF: ToyotaCarInfo("Lexus GSF 2016"),
+  CAR.LEXUS_GSF: ToyotaCarInfo("Lexus GSF"),
   CAR.LEXUS_NX: [
     ToyotaCarInfo("Lexus NX 2018-19"),
     ToyotaCarInfo("Lexus NX Hybrid 2018-19"),

From accb2534ddbe6db5aa6c1408d8445fd56d095f93 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 02:30:56 -0500
Subject: [PATCH 10/26] added MY back to all "Lexus GSF"

---
 selfdrive/car/torque_data/substitute.yaml | 2 +-
 selfdrive/car/toyota/values.py            | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index 7d2ddf3b6c3441..2dbddfb4a2f6f4 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -14,7 +14,7 @@ LEXUS CT HYBRID 2018 : LEXUS NX 2018
 LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS RC 2020: LEXUS NX 2020
-LEXUS GSF: LEXUS NX 2020
+LEXUS GSF 2016: LEXUS NX 2020
 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 527515e93c9ef6..3d92ef564021ec 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -95,7 +95,7 @@ class CAR(StrEnum):
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
-  LEXUS_GSF = "LEXUS GSF"
+  LEXUS_GSF = "LEXUS GSF 2016"
 
 
 class Footnote(Enum):
@@ -186,7 +186,7 @@ class ToyotaCarInfo(CarInfo):
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
-  CAR.LEXUS_GSF: ToyotaCarInfo("Lexus GSF"),
+  CAR.LEXUS_GSF: ToyotaCarInfo("Lexus GSF 2016"),
   CAR.LEXUS_NX: [
     ToyotaCarInfo("Lexus NX 2018-19"),
     ToyotaCarInfo("Lexus NX Hybrid 2018-19"),

From 299d9c2aef0442549575794b6394fd7b60414de7 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 03:10:54 -0500
Subject: [PATCH 11/26] removed route, don't think it does anything

---
 selfdrive/car/tests/routes.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index e45358aadeda51..298e2bfec41ee6 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -192,7 +192,6 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   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("ab9b64a5e5960cba|2023-10-14--00-38-19", TOYOTA.LEXUS_GSF, segment=1),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),

From 697812c91531cd526c5327cf05924b26fc373777 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 03:14:21 -0500
Subject: [PATCH 12/26] move GSF ecu values to better place

---
 selfdrive/car/toyota/values.py | 40 +++++++++++++++++-----------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3d92ef564021ec..2133a3a9a37653 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1111,26 +1111,6 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_GSF: {
-    (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.HIGHLANDER: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E09000\x00\x00\x00\x00',
@@ -1899,6 +1879,26 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
         b'8646F3302200\x00\x00\x00\x00',
       ],
   },
+  CAR.LEXUS_GSF: {
+    (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',

From 4193938fc2671a5e73c57b1a6e729601913b6756 Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 11:45:35 -0500
Subject: [PATCH 13/26] remove whitespace from toyota > interface.py

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 8f6a9b3eae49fb..38f985b040b5f2 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -163,7 +163,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.steerRatio = 13.3
       ret.tireStiffnessFactor = 0.444
       ret.mass = 3736.8 * CV.LB_TO_KG
-    
+
     elif candidate in (CAR.LEXUS_GSF):
       ret.wheelbase = 2.84988
       ret.steerRatio = 13.3

From a5849f7e3f1ff15f65802befcaf915e1a956f1df Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 12:07:28 -0500
Subject: [PATCH 14/26] added in public route for LEXUS_GSF

---
 selfdrive/car/tests/routes.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 298e2bfec41ee6..b29ad776401ce8 100755
--- a/selfdrive/car/tests/routes.py
+++ b/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|2023-10-14--00-01-39", TOYOTA.LEXUS_GSF),
   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),

From 7aeb2f2bd897966472551f8881c022aeee6f0e3b Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 13:18:49 -0500
Subject: [PATCH 15/26] added GSF to docs

---
 docs/CARS.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/CARS.md b/docs/CARS.md
index 670614c3fcd553..c9f365e9f3c632 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -158,6 +158,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|NX Hybrid 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 Hybrid 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2020-21|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=NX Hybrid 2020-21">Buy Here</a></sub></details>||
 |Lexus|RC 2018-20|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=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|GSF 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=GSF 2016">Buy Here</a></sub></details>||
 |Lexus|RX 2016|Lexus Safety System+|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=RX 2016">Buy Here</a></sub></details>||
 |Lexus|RX 2017-19|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=RX 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX 2020-22|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=RX 2020-22">Buy Here</a></sub></details>||

From e15e54eed67348f0ccb526b131f600264d432fef Mon Sep 17 00:00:00 2001
From: Calvin <calvinchui382025@yahoo.com>
Date: Sat, 14 Oct 2023 13:49:26 -0500
Subject: [PATCH 16/26] update test route

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index b29ad776401ce8..ef95e79f7566ca 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -193,7 +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|2023-10-14--00-01-39", TOYOTA.LEXUS_GSF),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-14--02-43-53", TOYOTA.LEXUS_GSF),
   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),

From 5ad4a6acf9d17ee1be99f74961bd62fbb27705e8 Mon Sep 17 00:00:00 2001
From: Calvin <calvinchui382025@yahoo.com>
Date: Sat, 14 Oct 2023 14:23:51 -0500
Subject: [PATCH 17/26] update test route

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index ef95e79f7566ca..fa2bd93d83a52c 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -193,7 +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|2023-10-14--02-43-53", TOYOTA.LEXUS_GSF),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-14--02-35-07", TOYOTA.LEXUS_GSF),
   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),

From 736baf98c7a4ce4694f8b54d54d9eedfb35d3cc1 Mon Sep 17 00:00:00 2001
From: Calvin <calvinchui382025@yahoo.com>
Date: Sat, 14 Oct 2023 15:44:43 -0500
Subject: [PATCH 18/26] update 266 Supported cars

---
 docs/CARS.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index c9f365e9f3c632..9c683a8a1588d9 100644
--- a/docs/CARS.md
+++ b/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.
 
-# 265 Supported Cars
+# 266 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|

From b3341f10d7c3ae75a51a708ef98b7c52f8c7129b Mon Sep 17 00:00:00 2001
From: cchui <cchui@eogresources.com>
Date: Sat, 14 Oct 2023 17:00:14 -0500
Subject: [PATCH 19/26] trying different dbc

---
 selfdrive/car/toyota/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2133a3a9a37653..3e826438b0b882 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -2281,7 +2281,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_GSF: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_GSF: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
 }
 
 # These cars have non-standard EPS torque scale factors. All others are 73

From 1411500f15f493c54ac0b55e40d8585ed8223213 Mon Sep 17 00:00:00 2001
From: Calvin <calvinchui382025@yahoo.com>
Date: Sat, 14 Oct 2023 21:57:38 -0500
Subject: [PATCH 20/26] updated to working route

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index fa2bd93d83a52c..676e9e2dda6950 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -193,7 +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|2023-10-14--02-35-07", TOYOTA.LEXUS_GSF),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-14--21-24-45", TOYOTA.LEXUS_GSF),
   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),

From c92967b4db1d750140596e9ed512cb226889c05e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 21 Oct 2023 02:15:13 -0700
Subject: [PATCH 21/26] clean up

---
 docs/CARS.md                              |  4 ++--
 selfdrive/car/tests/routes.py             |  2 +-
 selfdrive/car/torque_data/substitute.yaml |  2 +-
 selfdrive/car/toyota/interface.py         |  2 +-
 selfdrive/car/toyota/values.py            | 12 ++++++------
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 5678a3a04ea2b4..2348cbf11c04a3 100644
--- a/docs/CARS.md
+++ b/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.
 
-# 266 Supported Cars
+# 267 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -152,6 +152,7 @@ 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>||
@@ -159,7 +160,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|NX Hybrid 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 Hybrid 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2020-21|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=NX Hybrid 2020-21">Buy Here</a></sub></details>||
 |Lexus|RC 2018-20|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=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|GSF 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=GSF 2016">Buy Here</a></sub></details>||
 |Lexus|RX 2016|Lexus Safety System+|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=RX 2016">Buy Here</a></sub></details>||
 |Lexus|RX 2017-19|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=RX 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX 2020-22|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=RX 2020-22">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index d83594ed365f75..617fb5a309007a 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -194,7 +194,7 @@ 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|2023-10-14--21-24-45", TOYOTA.LEXUS_GSF),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-14--21-24-45", 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),
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index 2dbddfb4a2f6f4..71ed1cc7933eeb 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -14,7 +14,7 @@ LEXUS CT HYBRID 2018 : LEXUS NX 2018
 LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS RC 2020: LEXUS NX 2020
-LEXUS GSF 2016: LEXUS NX 2020
+LEXUS GS F 2016: LEXUS NX 2020
 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 38f985b040b5f2..9c4161492593e6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -164,7 +164,7 @@ 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 in (CAR.LEXUS_GSF):
+    elif candidate == CAR.LEXUS_GS_F:
       ret.wheelbase = 2.84988
       ret.steerRatio = 13.3
       ret.tireStiffnessFactor = 0.444
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 14f313c26cce03..3931b00131042f 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -95,7 +95,7 @@ class CAR(StrEnum):
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
-  LEXUS_GSF = "LEXUS GSF 2016"
+  LEXUS_GS_F = "LEXUS GS F 2016"
 
 
 class Footnote(Enum):
@@ -186,7 +186,7 @@ class ToyotaCarInfo(CarInfo):
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
-  CAR.LEXUS_GSF: ToyotaCarInfo("Lexus GSF 2016"),
+  CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"),
   CAR.LEXUS_NX: [
     ToyotaCarInfo("Lexus NX 2018-19"),
     ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
@@ -386,7 +386,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
     Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
-                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_GSF],
+                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -1881,7 +1881,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
         b'8646F3302200\x00\x00\x00\x00',
       ],
   },
-  CAR.LEXUS_GSF: {
+  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',
     ],
@@ -2284,7 +2284,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_GSF: dbc_dict('toyota_new_mc_pt_generated', 'toyota_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
@@ -2299,7 +2299,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY, CAR.CAMRYH}
 
 # the DSU uses the AEB message for longitudinal on these cars
-UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GSF}
+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.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}

From 1d7426cf3d211eac0a07d6d3ac3626524aae2bba Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 21 Oct 2023 02:16:01 -0700
Subject: [PATCH 22/26] add to releases

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index 96028a9787ebc3..0fc3064daadc17 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -11,6 +11,7 @@ Version 0.9.5 (2023-XX-XX)
 * 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)

From 25532e34ae30d6f071bca4069ecb4ef575388fe9 Mon Sep 17 00:00:00 2001
From: Calvin <calvinchui382025@yahoo.com>
Date: Tue, 24 Oct 2023 11:55:10 -0500
Subject: [PATCH 23/26] updated test route

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 617fb5a309007a..92519db3219662 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -194,7 +194,7 @@ 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|2023-10-14--21-24-45", TOYOTA.LEXUS_GS_F),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-17--18-59-12", 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),

From 00f1e95d64f3656abe37664d283d41c30733c78c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 13 Nov 2023 16:30:15 -0800
Subject: [PATCH 24/26] new route

---
 selfdrive/car/tests/routes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 678a2d119876cc..dc9fa32b971478 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -193,7 +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|2023-10-17--18-59-12", TOYOTA.LEXUS_GS_F),
+  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),

From e01c08db4f142caa84471e7aa89ada12e5838cbf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 13 Nov 2023 17:29:28 -0800
Subject: [PATCH 25/26] docs

---
 docs/CARS.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 55d78b90792313..d8de1491f54eec 100644
--- a/docs/CARS.md
+++ b/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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|

From 2b38a4fb24e0e88e7cc298ad8f478d8aefdc9255 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 14 Nov 2023 02:24:27 -0800
Subject: [PATCH 26/26] slightly better torque params

---
 selfdrive/car/torque_data/override.yaml   | 1 +
 selfdrive/car/torque_data/substitute.yaml | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 29e616b102d6ab..12b483cfa79541 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/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]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index a41c57c3b3d6ea..c7a1566b327c77 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -11,7 +11,6 @@ LEXUS CT HYBRID 2018 : LEXUS NX 2018
 LEXUS ES 2018: TOYOTA CAMRY 2018
 LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
 LEXUS RC 2020: LEXUS NX 2020
-LEXUS GS F 2016: LEXUS NX 2020
 
 KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
 KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020