From 2ab8e73898255b8827aeea29ecc2faba14376dd6 Mon Sep 17 00:00:00 2001
From: rav4kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 15 Aug 2026 01:02:53 -0700
Subject: [PATCH] feat(toyota): extend blind-spot coverage

---
 opendbc_repo                                          |  2 +-
 openpilot/common/params_keys.h                        |  1 +
 openpilot/sunnypilot/selfdrive/car/interfaces.py      |  1 +
 openpilot/sunnypilot/sunnylink/settings_ui.json       | 11 +++++++++++
 .../sunnylink/settings_ui_src/pages/vehicle.yaml      |  6 ++++++
 5 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 8c07426436..4b99eea067 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8c07426436ac85067289d0c5a5d9354fccee1935
+Subproject commit 4b99eea067455c8698e94d5cd14585d012aa1a57
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index f6a19d455d..4e2ffcab54 100644
--- a/openpilot/common/params_keys.h
+++ b/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"}},
 
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index ecabc53b57..e58ea66b6b 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/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]
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index a5b69a99e4..89c15f6f8c 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/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",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 19a38c9e6e..51042b4668 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/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