feat(toyota): extend blind-spot coverage

openpilot/common/params_keys.h

@@ -189,6 +189,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // toyota specific params
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
 

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -136,6 +136,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaEnhancedBsm",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -2370,6 +2370,17 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
+        {
+          "key": "ToyotaEnhancedBsm",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Prius TSS2 BSM and some tssp",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
         {
           "key": "ToyotaTSS2Long",
           "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -82,6 +82,12 @@ sections:
   title: Toyota / Lexus Settings
   description: ''
   items:
+  - key: ToyotaEnhancedBsm
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: Prius TSS2 BSM and some tssp'
+    enablement:
+    - $ref: '#/macros/not_engaged'
   - key: ToyotaTSS2Long
     widget: toggle
     needs_onroad_cycle: true