From eb5020b7a958db31c154dbf334584ef72009b9cf Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Tue, 11 Feb 2020 19:15:39 +0100 Subject: [PATCH] Add the ability to communicate with BSM (#433) * Add the ability to communicate with BSM To poll the blind spot sensor 0x750 is required * Add blindspot monitor communication --- board/safety/safety_toyota.h | 2 +- tests/safety/test_toyota.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h index 844e387fef7716..4bf0a5de43d067 100644 --- a/board/safety/safety_toyota.h +++ b/board/safety/safety_toyota.h @@ -21,7 +21,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475; // ratio between offset and g const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0}, // DSU bus 0 {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1}, // DSU bus 1 {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0}, // LKAS + ACC - {0x200, 0}}; // interceptor + {0x200, 0}, {0x750, 0}}; // interceptor + Blindspot monitor AddrCheckStruct toyota_rx_checks[] = { {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U}, diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py index 10181624547946..493fb1f62b0ae3 100644 --- a/tests/safety/test_toyota.py +++ b/tests/safety/test_toyota.py @@ -21,7 +21,7 @@ TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0 [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1 [0x2E4, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0], # LKAS + ACC - [0x200, 0]]; # interceptor + [0x200, 0], [0x750, 0]]; # interceptor + blindspot monitor def twos_comp(val, bits):