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Toyota: log gas and brake #1640

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merged 3 commits into from
Jan 16, 2025
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Toyota: log gas and brake #1640

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6f6548d
log gas and brake again
sshane Jan 16, 2025
c01e326
cmt
sshane Jan 16, 2025
bd5e0fb
only user
sshane Jan 16, 2025
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8 changes: 8 additions & 0 deletions opendbc/car/toyota/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,10 @@ def update(self, can_parsers) -> structs.CarState:
if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]

if self.CP.flags & ToyotaFlags.HYBRID:
ret.gas = cp.vl["GAS_PEDAL_HYBRID"]["GAS_PEDAL"]
ret.brake = cp.vl["BRAKE"]["BRAKE_AMOUNT"]

ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
Expand Down Expand Up @@ -220,6 +224,10 @@ def get_can_parsers(CP):
if CP.carFingerprint not in [CAR.TOYOTA_MIRAI]:
pt_messages.append(("ENGINE_RPM", 42))

if CP.flags & ToyotaFlags.HYBRID:
pt_messages.append(("BRAKE", 83))
pt_messages.append(("GAS_PEDAL_HYBRID", 33))

pt_messages += [
("GEAR_PACKET", 1),
]
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