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toyota: enable the enhanced BSM toggle for TSS-P cars with a smartDSU

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This commit is contained in:
rav4kumar
2026-11-03 10:19:47 -07:00
parent 914aaefac1
commit 9c1bdde65b
3 changed files with 17 additions and 7 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 8a69342d74...a0f52f61af
openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
+8 -3
View File
@@ -17,7 +17,8 @@ from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
SNG_HACK_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature.")
BSM_UNAVAILABLE = tr_noop("Enhanced Blind Spot Monitoring requires a TSS2 Toyota/Lexus without SecOC.")
BSM_UNAVAILABLE = tr_noop("Enhanced Blind Spot Monitoring requires a TSS2 Toyota/Lexus without SecOC, " +
"or a smartDSU with sunnypilot longitudinal control.")
BSM_STOCK_LONG_UNAVAILABLE = tr_noop("Enhanced Blind Spot Monitoring is not available while Enforce Factory Longitudinal Control is enabled.")
BSM_REQUIRED = tr_noop("This vehicle does not report blind spot status over the standard CAN signals. " +
"Enhanced Blind Spot Monitoring is required for blind spot detection.")
@@ -153,8 +154,12 @@ class ToyotaSettings(BrandSettings):
self.stop_and_go_hack.show_description(True)
# Enhanced BSM needs the radar diagnostic address, which is only in the TX allowlist for
# TSS2 cars without SecOC that are not enforcing factory longitudinal control
bsm_supported = bool(ui_state.CP.flags & ToyotaFlags.TSS2) and not bool(ui_state.CP.flags & ToyotaFlags.SECOC)
# TSS2 cars without SecOC, or for TSS-P cars whose smartDSU lets sunnypilot control
# longitudinal. Enforcing factory longitudinal control rules both of those out.
sdsu_bsm_supported = (longitudinal and ui_state.CP_SP is not None and
bool(ui_state.CP_SP.flags & ToyotaFlagsSP.SMART_DSU))
bsm_supported = (not bool(ui_state.CP.flags & ToyotaFlags.SECOC) and
(bool(ui_state.CP.flags & ToyotaFlags.TSS2) or sdsu_bsm_supported))
bsm_available = bsm_supported and not enforce_stock
self.enhanced_bsm.action_item.set_enabled(bsm_available and not ui_state.engaged)
openpilot/sunnypilot/sunnylink/capabilities.py
+8 -3
View File
@@ -13,6 +13,7 @@ from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
from opendbc.car.toyota.values import CAR as TOYOTA_CAR, ToyotaFlags
from opendbc.sunnypilot.car.interfaces import has_bsm
from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.common.hardware import HARDWARE
@@ -83,7 +84,7 @@ def _bundle_field(bundle: dict | None, key: str) -> str:
return bundle.get(key, "") if isinstance(bundle, dict) else ""
def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP, CP_SP=None) -> None:
"""Set brand-specific capabilities from bundle platform or CarParams fallback.
Bundle (manual car selection) is a pre-fingerprint approximation.
@@ -122,7 +123,11 @@ def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
except KeyError:
cloudlog.exception(f"capabilities: unknown toyota platform {bundle_platform!r}")
elif CP is not None:
caps["toyota_enhanced_bsm_available"] = bool(CP.flags & ToyotaFlags.TSS2) and not bool(CP.flags & ToyotaFlags.SECOC)
# same gate as _initialize_toyota: TSS2 without SecOC, or TSS-P with a smartDSU and openpilot
# longitudinal control (the bundle path can't see 0x2FF, so it stays TSS2-only)
sdsu_bsm = CP_SP is not None and bool(CP_SP.flags & ToyotaFlagsSP.SMART_DSU) and bool(CP.openpilotLongitudinalControl)
caps["toyota_enhanced_bsm_available"] = (not bool(CP.flags & ToyotaFlags.SECOC) and
(bool(CP.flags & ToyotaFlags.TSS2) or sdsu_bsm))
def generate_capabilities(params: Params | None = None) -> dict:
@@ -194,7 +199,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
if CP is not None:
caps["has_bsm"] = has_bsm(CP, CP_SP)
_resolve_brand_capabilities(caps, bundle_platform, CP)
_resolve_brand_capabilities(caps, bundle_platform, CP, CP_SP)
return caps