Revert "Toyota: prepare to disable radar (#29541)"

This reverts commit 2d56016f4c25f7672ff770958ea65c6bc023e387.

old-commit-hash: cb36816315

selfdrive/car/toyota/carcontroller.py

@@ -166,7 +166,6 @@ class CarController:
                                            hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                            hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
 
-      # TODO: send when disabling the radar to avoid a fault
       if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
         can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
@@ -175,10 +174,6 @@ class CarController:
       if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
         can_sends.append(make_can_msg(addr, vl, bus))
 
-    # uncomment to keep radar disabled, rate can be tuned:
-    # if self.frame % 20 == 0:
-    #   can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
-
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer

selfdrive/car/toyota/interface.py

@@ -261,15 +261,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # uncomment to disable radar:
-  # @staticmethod
-  # def init(CP, logcan, sendcan):
-  #   # a diagnostic mode of SESSION_TYPE.PROGRAMMING disabled the ECU on its own. car did not accept DISABLE_RX_DISABLE_TX, but it did not matter.
-  #   # a diagnostic mode of SESSION_TYPE.EXTENDED_DIAGNOSTIC and CONTROL_TYPE.ENABLE_RX_DISABLE_TX did work, so use that
-  #   # TODO: add a flag, radarUnavailable shouldn't be used as "radar acc" right now
-  #   if CP.openpilotLongitudinalControl and CP.radarUnavailable:
-  #     disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=b'\x28\x01\x01')
-
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)

selfdrive/car/toyota/toyotacan.py

@@ -56,7 +56,7 @@ def create_acc_cancel_command(packer):
 
 def create_fcw_command(packer, fcw):
   values = {
-    "PCS_INDICATOR": 1,  # PCS turned off
+    "PCS_INDICATOR": 1,
     "FCW": fcw,
     "SET_ME_X20": 0x20,
     "SET_ME_X10": 0x10,