Toyota: add central gateway ECU (#28653)

* add comment about central gateway

* add as ecu

* bump ref

* add to whitelists

selfdrive/car/tests/test_fw_fingerprint.py

@@ -186,7 +186,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_fw_query_timing(self):
     tol = 0.1
-    total_ref_time = 5.8
+    total_ref_time = 6.1
     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': 1.3,
+        'toyota': 1.6,
         'volkswagen': 0.2,
       },
       2: {

selfdrive/car/toyota/values.py

@@ -225,20 +225,21 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [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, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission],
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway],
       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, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission],
+      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission,
+                      Ecu.gateway],
       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, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission],
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway],
       bus=0,
     ),
   ],
@@ -264,8 +265,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.srs, 0x780, None),     # SRS Airbag
     (Ecu.srs, 0x784, None),     # SRS Airbag 2
     (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
-    (Ecu.transmission, 0x701, None),
+    (Ecu.gateway, 0x750, 0x5f),
     (Ecu.telematics, 0x750, 0xc7),
+    (Ecu.transmission, 0x701, None),
     (Ecu.combinationMeter, 0x7c0, None),
   ],
 )