Toyota: query hybrid vehicle control computer ECU (#28628)

* add comments

* we query abs

* lower

* add hybrid controller

* bump cereal to master

* another PR

* add hybrid to whitelists

* consistency

* check data for this
old-commit-hash: 08112ebc37

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, Ecu.telematics],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics, Ecu.hybrid],
       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],
+      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid],
       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],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics, Ecu.hybrid],
       bus=0,
     ),
   ],
@@ -247,7 +247,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
   },
   extra_ecus=[
-    (Ecu.epb, 0x750, 0x2c),  # Electronic Parking Brake
+    # These have been seen responding to UDS query
+    # TODO: if these hybrid ECUs always exist together, remove one
+    (Ecu.hybrid, 0x712, None),  # Hybrid Control Assembly & Computer
+    (Ecu.hybrid, 0x7d2, None),  # Hybrid Control Assembly & Computer 2
+    (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
     (Ecu.telematics, 0x750, 0xc7),
   ],
 )