From cb342461f03e6ff0e6eccbe5de55796b44e659f1 Mon Sep 17 00:00:00 2001 From: Irene <12470297+cydia2020@users.noreply.github.com> Date: Thu, 24 Aug 2023 13:52:01 +1000 Subject: [PATCH] Toyota: add TODO comment for TSS-P BSM (#28396) * Toyota: enable BSM on C-Hr * Update selfdrive/car/toyota/carstate.py Co-authored-by: Cameron Clough * remove duplicate block * Remove useless addition * make this a comment for now * remove extra bit * clean up * clean up --------- Co-authored-by: Cameron Clough Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/interface.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 89b328b6ae..ab242a09a2 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -199,6 +199,9 @@ class CarInterface(CarInterfaceBase): ret.mass = 4305. * CV.LB_TO_KG ret.centerToFront = ret.wheelbase * 0.44 + + # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. + # Detect flipped signals and enable for C-HR and others ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it