add gasPressed

commaai · Mar 19, 2024 · 56995fe · 56995fe
1 parent aa5d769
commit 56995fe
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -65,7 +65,10 @@ def update(self, cp, cp_cam):
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
 
-    if self.CP.carFingerprint not in [CAR.RAV4_PRIME]:
+    if self.CP.flags & ToyotaFlags.GEAR_PACKET_HYBRID.value:
+      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"]
+      ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
+    else:
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -213,6 +216,7 @@ def get_can_parser(CP):
 
     if CP.flags & ToyotaFlags.GEAR_PACKET_HYBRID.value:
       messages.append(("GEAR_PACKET_HYBRID", 60))
+      messages.append(("GAS_PEDAL", 42))
     else:
       messages.append(("GEAR_PACKET", 1))
 

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -55,7 +55,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
 
     # Detect missing GEAR_PACKET msg, but has GEAR_PACKET_HYBRID
-    if 0x3BC not in fingerprint[0] and 0x127 in fingerprint[0]:
+    # For new we also assume this correlates to having a the GAS_PEDAL message on 0x116
+    if 0x3BC not in fingerprint[0] and 0x127 in fingerprint[0] and 0x116 in fingerprint[0]:
       ret.flags |= ToyotaFlags.GEAR_PACKET_HYBRID.value
 
     # In TSS2 cars, the camera does long control