ref

.gitmodules

@@ -4,6 +4,7 @@
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
+  branch = toyotabsmhack
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

openpilot/common/params_keys.h

@@ -246,6 +246,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py

@@ -4,6 +4,8 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from opendbc.car.toyota.values import ToyotaFlags
+from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app
@@ -15,6 +17,10 @@ from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 
 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_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.")
 
 DESCRIPTIONS = {
   'enforce_stock_longitudinal': tr_noop(
@@ -23,6 +29,10 @@ DESCRIPTIONS = {
   'stop_and_go_hack': tr_noop(
     'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
     'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
+  ),
+  'enhanced_bsm': tr_noop(
+    'sunnypilot will poll the blind spot monitor diagnostics directly from the radar. Use this on vehicles whose blind spot monitors ' +
+    'do not report blind spot status over the standard CAN signals. This is an alpha feature. Use at your own risk.'
   )
 }
 
@@ -47,9 +57,18 @@ class ToyotaSettings(BrandSettings):
       enabled=lambda: not ui_state.engaged,
     )
 
+    self.enhanced_bsm = toggle_item_sp(
+      lambda: tr("Enhanced Blind Spot Monitoring (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["enhanced_bsm"]),
+      initial_state=ui_state.params.get_bool("ToyotaEnhancedBsm"),
+      callback=self._on_enable_enhanced_bsm,
+      enabled=lambda: not ui_state.engaged,
+    )
+
     self.items = [
       self.enforce_stock_longitudinal,
       self.stop_and_go_hack,
+      self.enhanced_bsm,
     ]
 
   def _on_enable_enforce_stock_longitudinal(self, state: bool):
@@ -94,6 +113,25 @@ class ToyotaSettings(BrandSettings):
       ui_state.params.put_bool("ToyotaStopAndGoHack", False)
       ui_state.params.put_bool("OnroadCycleRequested", True)
 
+  def _on_enable_enhanced_bsm(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaEnhancedBsm", True)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.enhanced_bsm.action_item.set_state(False)
+
+      content = (f"<h1>{self.enhanced_bsm.title}</h1><br>" +
+                 f"<p>{self.enhanced_bsm.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaEnhancedBsm", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
     if ui_state.CP is not None:
       longitudinal = ui_state.CP.openpilotLongitudinalControl
@@ -113,9 +151,36 @@ class ToyotaSettings(BrandSettings):
         self.stop_and_go_hack.set_description(new_desc)
         if show_desc:
           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)
+      bsm_available = bsm_supported and not enforce_stock
+      self.enhanced_bsm.action_item.set_enabled(bsm_available and not ui_state.engaged)
+
+      bsm_desc = tr(DESCRIPTIONS["enhanced_bsm"])
+      if not bsm_supported:
+        self.enhanced_bsm.action_item.set_state(False)
+        bsm_desc = "<b>" + tr(BSM_UNAVAILABLE) + "</b>\n\n" + bsm_desc
+      elif enforce_stock:
+        self.enhanced_bsm.action_item.set_state(False)
+        bsm_desc = "<b>" + tr(BSM_STOCK_LONG_UNAVAILABLE) + "</b>\n\n" + bsm_desc
+      elif ui_state.CP_SP is not None and ui_state.CP_SP.flags & ToyotaFlagsSP.SP_NEED_DEBUG_BSM:
+        bsm_desc = "<b>" + tr(BSM_REQUIRED) + "</b>\n\n" + bsm_desc
+
+      if self.enhanced_bsm.description != bsm_desc:
+        self.enhanced_bsm.set_description(bsm_desc)
+        if not bsm_available:
+          self.enhanced_bsm.show_description(True)
     else:
       self.stop_and_go_hack.action_item.set_enabled(False)
       new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
       if self.stop_and_go_hack.description != new_desc:
         self.stop_and_go_hack.set_description(new_desc)
         self.stop_and_go_hack.show_description(True)
+
+      self.enhanced_bsm.action_item.set_enabled(False)
+      bsm_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["enhanced_bsm"])
+      if self.enhanced_bsm.description != bsm_desc:
+        self.enhanced_bsm.set_description(bsm_desc)
+        self.enhanced_bsm.show_description(True)

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -126,6 +126,7 @@ 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/capabilities.py

@@ -10,6 +10,7 @@ from openpilot.cereal import custom, messaging
 from opendbc.car.structs import car
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
 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 openpilot.common.params import Params
@@ -43,6 +44,7 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
+  "toyota_enhanced_bsm_available",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -65,6 +67,7 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+  "toyota_enhanced_bsm_available": "Toyota Enhanced BSM available",
 }
 
 # Explicit defaults for non-boolean capability fields
@@ -111,6 +114,16 @@ def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
       caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
       caps["has_stop_and_go"] = caps["subaru_has_sng"]
 
+  elif brand == "toyota":
+    if bundle_platform:
+      try:
+        flags = TOYOTA_CAR[bundle_platform].config.flags
+        caps["toyota_enhanced_bsm_available"] = bool(flags & ToyotaFlags.TSS2) and not bool(flags & ToyotaFlags.SECOC)
+      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)
+
 
 def generate_capabilities(params: Params | None = None) -> dict:
   """Generate a SettingsCapabilities dict from CarParams + boolean params.

openpilot/sunnypilot/sunnylink/docs/README.md

@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
 
 **Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
 
-**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `toyota_enhanced_bsm_available`
 
 ---
 

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -2324,6 +2324,28 @@
               "equals": false
             }
           ]
+        },
+        {
+          "key": "ToyotaEnhancedBsm",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Enhanced Blind Spot Monitoring (Alpha)",
+          "description": "sunnypilot will poll the blind spot monitor diagnostics directly from the radar. Use this on vehicles whose blind spot monitors do not report blind spot status over the standard CAN signals. This is an alpha feature. Use at your own risk.",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            },
+            {
+              "type": "capability",
+              "field": "toyota_enhanced_bsm_available",
+              "equals": true
+            },
+            {
+              "type": "capability",
+              "field": "stock_longitudinal",
+              "equals": false
+            }
+          ]
         }
       ]
     }

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

@@ -101,3 +101,18 @@ sections:
     - type: param
       key: ToyotaEnforceStockLongitudinal
       equals: false
+  - key: ToyotaEnhancedBsm
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enhanced Blind Spot Monitoring (Alpha)
+    description: sunnypilot will poll the blind spot monitor diagnostics directly from the radar. Use this on vehicles whose
+      blind spot monitors do not report blind spot status over the standard CAN signals. This is an alpha feature. Use at
+      your own risk.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - type: capability
+      field: toyota_enhanced_bsm_available
+      equals: true
+    - type: capability
+      field: stock_longitudinal
+      equals: false

openpilot/sunnypilot/sunnylink/tests/test_capabilities.py

@@ -69,12 +69,18 @@ class TestOpaquePerBrandFlags(OpenpilotTestCase):
   def test_hyundai_alpha_long_available_field_present(self):
     assert "hyundai_alpha_long_available" in CAPABILITY_FIELDS
 
+  def test_toyota_enhanced_bsm_available_field_present(self):
+    assert "toyota_enhanced_bsm_available" in CAPABILITY_FIELDS
+
   def test_subaru_has_sng_default_false(self, caps):
     assert caps["subaru_has_sng"] is False
 
   def test_hyundai_alpha_long_available_default_false(self, caps):
     assert caps["hyundai_alpha_long_available"] is False
 
+  def test_toyota_enhanced_bsm_available_default_false(self, caps):
+    assert caps["toyota_enhanced_bsm_available"] is False
+
 
 class TestCapabilitiesShape(OpenpilotTestCase):
   def test_all_fields_present(self, caps):

openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py

@@ -207,6 +207,7 @@ class TestNotEngagedReplacement(OpenpilotTestCase):
     "AlphaLongitudinalEnabled",
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaEnhancedBsm",
   ], names=["key"])
   def test_offroad_only_replaced_with_not_engaged(self, schema, key):
     """These items should use not_engaged, not offroad_only."""

openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py

@@ -286,6 +286,7 @@ class TestKnownVehicleSettings(OpenpilotTestCase):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
     assert "ToyotaEnforceStockLongitudinal" in keys
     assert "ToyotaStopAndGoHack" in keys
+    assert "ToyotaEnhancedBsm" in keys
 
   def test_tesla_has_coop_steering(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}