add alt brake message

commaai · Jan 30, 2024 · f4058e5 · f4058e5
1 parent 4ae9087
commit f4058e5
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -61,8 +61,9 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}},                        \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}},  \
   {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
-  {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
-           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}},                               \
+  {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U},                                        \
+           {0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
+           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}},                               \
 
 RxCheck toyota_lka_rx_checks[] = {
   TOYOTA_COMMON_RX_CHECKS(false)
@@ -200,6 +201,11 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
       brake_pressed = GET_BIT(to_push, bit) != 0U;
     }
 
+    // brake pressed on 0x101 for rav4 prime
+    if (addr == 0x101) {
+      brake_pressed = GET_BIT(to_push, 3) != 0U;
+    }
+
     // sample gas interceptor
     if ((addr == 0x201) && enable_gas_interceptor) {
       int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push);