Pagination Codeigniter

public function car(){
        $data['title'] = $this->project_model->projectName().$this->title;
        $data['meta_tags'] = $this->metaTags;       
        $data['keywords'] = $this->keywords;
        $data['details'] = $this->details;      
        $data['page_name'] = $this->pageName;
        $data['heading'] = 'Resultados:';

$this->db->select('*');
        $this->db->from('car_list');


        if($this->input->get('type')){
            $this->db->where("type", $this->input->get('type'));
        }

        if($this->input->get('doors')){
            $this->db->where("doors", $this->input->get('doors'));      
        }

        if($this->input->get('diesel')){
            $this->db->where("diesel", $this->input->get('diesel'));        
        }

        $this->db->order_by('car_id', 'desc');

        $data['QUERY'] = $this->db->get();

        $data['total_rows'] = $data['QUERY']->num_rows;




        $this->load->view('cars_listing', $data);
    }       

I need pagination with:
$config = array(
                    'num_links' => 2,
                    'use_page_numbers'  =>  FALSE,
                    'full_tag_open' => '<ul class="pagination">',
                    'full_tag_close' => '</ul>',
                    'first_link' => 'First',
                    'first_tag_open' => '<li>',
                    'first_tag_close' => '</li>',
                    'last_tag_open' => '<li>',
                    'last_tag_close' => '</li>',
                    'next_link' => '<span aria-hidden="true">&raquo;</span>',
                    'next_tag_open' => '<li>',
                    'next_tag_close' => '</li>',
                    'prev_link' => '<span aria-hidden="true">&laquo;</span>',
                    'prev_tag_open' => '<li>',
                    'prev_tag_close' => '</i>',
                    'cur_tag_open' => '<li><a  style="background:#E7E7E7;">',
                    'cur_tag_close' => '</a></li>',
                    'num_tag_open' => '<li>',
                    'num_tag_close' => '</li>'
                );