Toyota FPv2: log telematics ECU (#28613)

* add electronic parking brake ecu

* add

* add to whitelists

* update refs

cereal

@@ -1 +1 @@
-Subproject commit 0c34b6b3c8a092e77c9841ff0b95dbbcd20fa84e
+Subproject commit b06b8e3f66f9f3a645b591c5c0c3a23f34861175

selfdrive/car/tests/test_fw_fingerprint.py

@@ -157,7 +157,7 @@ class TestFwFingerprint(unittest.TestCase):
 
         ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
         self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
-                         f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
+                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')
 
 
 class TestFwFingerprintTiming(unittest.TestCase):
@@ -186,7 +186,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_fw_query_timing(self):
     tol = 0.1
-    total_ref_time = 5.5
+    total_ref_time = 5.8
     brand_ref_times = {
       1: {
         'body': 0.1,
@@ -198,7 +198,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'nissan': 0.9,
         'subaru': 0.1,
         'tesla': 0.2,
-        'toyota': 1.0,
+        'toyota': 1.3,
         'volkswagen': 0.2,
       },
       2: {

selfdrive/car/toyota/values.py

@@ -224,19 +224,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.epb],
+      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics],
       bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics],
       bus=0,
     ),
   ],
@@ -248,6 +248,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   },
   extra_ecus=[
     (Ecu.epb, 0x750, 0x2c),  # Electronic Parking Brake
+    (Ecu.telematics, 0x750, 0xc7),
   ],
 )