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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
master
Arne Schwarck 2020-02-11 19:15:39 +01:00 committed by GitHub
parent 73a60d5c9c
commit eb5020b7a9
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 2 additions and 2 deletions
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2
board/safety/safety_toyota.h
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@ -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},

2
tests/safety/test_toyota.py
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@ -21,7 +21,7 @@ INTERCEPTOR_THRESHOLD = 475
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):