Add the ability to communicate with BSM (commaai#433)

* Add the ability to communicate with BSM To poll the blind spot sensor 0x750 is required * Add blindspot monitor communication
dzid26 · Feb 11, 2020 · eb5020b · eb5020b
1 parent 73a60d5
commit eb5020b
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -21,7 +21,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and g
 const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0},  // DSU bus 0
                                   {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
                                   {0x2E4, 0}, {0x411, 0}, {0x412, 0}, {0x343, 0}, {0x1D2, 0},  // LKAS + ACC
-                                  {0x200, 0}};  // interceptor
+                                  {0x200, 0}, {0x750, 0}};  // interceptor + Blindspot monitor
 
 AddrCheckStruct toyota_rx_checks[] = {
   {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U},

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -21,7 +21,7 @@
 TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
            [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
            [0x2E4, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0],  # LKAS + ACC
-           [0x200, 0]];  # interceptor
+           [0x200, 0], [0x750, 0]];  # interceptor + blindspot monitor
 
 
 def twos_comp(val, bits):