From 9c1bdde65b93bbc37449fa8944fca5e563c1627a Mon Sep 17 00:00:00 2001
From: rav4kumar <meetkumardesai@gmail.com>
Date: Tue, 3 Nov 2026 10:19:47 -0700
Subject: [PATCH] toyota: enable the enhanced BSM toggle for TSS-P cars with a
 smartDSU

---
 opendbc_repo                                          |  2 +-
 .../layouts/settings/vehicle/brands/toyota.py         | 11 ++++++++---
 openpilot/sunnypilot/sunnylink/capabilities.py        | 11 ++++++++---
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 8a69342d74..a0f52f61af 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8a69342d74015b0c571be38790734dce991cdd85
+Subproject commit a0f52f61afe1314295513bb394e15da8e5d1775e
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
index 52d2cf1e24..aeb35ad4dd 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -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)
 
diff --git a/openpilot/sunnypilot/sunnylink/capabilities.py b/openpilot/sunnypilot/sunnylink/capabilities.py
index ed9ed8ca36..02608dd2b6 100644
--- a/openpilot/sunnypilot/sunnylink/capabilities.py
+++ b/openpilot/sunnypilot/sunnylink/capabilities.py
@@ -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