From 7560d6aba678dfa011ddb12128cda2db7159c60f Mon Sep 17 00:00:00 2001
From: Adeeb <8762862+quillford@users.noreply.github.com>
Date: Thu, 9 Apr 2020 12:09:20 -0700
Subject: [PATCH] Toyota: use universal gas pressed bit to match panda safety
 (#1335)

* Toyota: use universal gas pressed bit to match panda safety

* update ref
old-commit-hash: 928b1561aabb3683875d5c083377d5c5d894d543
---
 selfdrive/car/toyota/carstate.py         | 7 ++++---
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 18af6f7741..bc211ef7eb 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -36,7 +36,7 @@ class CarState(CarStateBase):
       ret.gasPressed = ret.gas > 15
     else:
       ret.gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
-      ret.gasPressed = ret.gas > 1e-5
+      ret.gasPressed = cp.vl["PCM_CRUISE"]['GAS_RELEASED'] == 0
 
     ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
     ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
@@ -130,6 +130,7 @@ class CarState(CarStateBase):
       ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
       ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
       ("CRUISE_STATE", "PCM_CRUISE", 0),
+      ("GAS_RELEASED", "PCM_CRUISE", 1),
       ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
       ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
       ("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
@@ -168,11 +169,11 @@ class CarState(CarStateBase):
       signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
       signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
       checks.append(("GAS_SENSOR", 50))
-      
+
     if CP.carFingerprint in TSS2_CAR:
       signals += [("L_ADJACENT", "BSM", 0)]
       signals += [("R_ADJACENT", "BSM", 0)]
-      
+
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
   @staticmethod
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ee696c8463..c86a6d04cb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0f6c22ce8b3fbbbbb8fff59e44f49b8ec1578e90
\ No newline at end of file
+9b4b08487380a6741646e22e191fa5bd1615f2d3