From 229bb21c9a46332cc2cebc2fc8fae809a60c9e3a Mon Sep 17 00:00:00 2001
From: Irene <12470297+cydia2020@users.noreply.github.com>
Date: Wed, 9 Aug 2023 08:24:57 +1000
Subject: [PATCH] Toyota: rename ACC_HUD to PCS_HUD (#29150)

* Toyota: rename ACC_HUD to PCS_HUD

* bump opendbc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 2bceb2425f57c1c19e2d7f10d36386aaa1575ef1
---
 opendbc                           |  2 +-
 selfdrive/car/toyota/carstate.py  | 10 +++++-----
 selfdrive/car/toyota/toyotacan.py |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/opendbc b/opendbc
index 7d61776e2b..3ef5cc8e79 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 7d61776e2b258a028b19d81852a20bc234ec6a37
+Subproject commit 3ef5cc8e794e826d2267afe9cc76cbae1501dc82
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index b6ecbe5e5f..a63ba2ae7c 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -132,7 +132,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
       if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
         self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
-      ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
+      ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -263,10 +263,10 @@ class CarState(CarStateBase):
           ("ACC_CONTROL", 33),
         ]
       signals += [
-        ("FCW", "ACC_HUD"),
+        ("FCW", "PCS_HUD"),
       ]
       checks += [
-        ("ACC_HUD", 1),
+        ("PCS_HUD", 1),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
@@ -302,12 +302,12 @@ class CarState(CarStateBase):
         ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
         ("FORCE", "PRE_COLLISION"),
         ("ACC_TYPE", "ACC_CONTROL"),
-        ("FCW", "ACC_HUD"),
+        ("FCW", "PCS_HUD"),
       ]
       checks += [
         ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
-        ("ACC_HUD", 1),
+        ("PCS_HUD", 1),
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 01861c534a..0c3330efa2 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -63,7 +63,7 @@ def create_fcw_command(packer, fcw):
     "PCS_OFF": 1,
     "PCS_SENSITIVITY": 0,
   }
-  return packer.make_can_msg("ACC_HUD", 0, values)
+  return packer.make_can_msg("PCS_HUD", 0, values)
 
 
 def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):