Toyota TSS2: radar disable support

[sshane]

No clue how I wasn't able to do this before, super easy. The ECUs automatically disable tx when you set them in programming diagnostic session type, but better to send disable tx (disable rx never worked).

POC to see if RAV4 2022-23 will work, worked on my TSS 2.5 Camry Hybrid.

panda PR: https://github.com/commaai/panda/pull/1611

[github-actions[bot]]

⚠️ This PR makes changes to CARS.md ⚠️

🔀 Column Changes

Make	Model	Supported Package	ACC	No ACC accel below	No ALC below	Steering Torque	Resume from stop	Hardware Needed	Video
Toyota	C-HR 2021	All	Stock ➡️ openpilot available1	0 mph	0 mph		➡️	Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here
Toyota	C-HR Hybrid 2021-22	All	Stock ➡️ openpilot available1	0 mph	0 mph		➡️	Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here
Toyota	RAV4 2022	All	Stock ➡️ openpilot available1	0 mph	0 mph		➡️	Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here
Toyota	RAV4 Hybrid 2022	All	Stock ➡️ openpilot available1	0 mph	0 mph		➡️	Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here
Toyota	RAV4 2023-24	All	Stock ➡️ openpilot available1	0 mph	0 mph		➡️	Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here
Toyota	RAV4 Hybrid 2023-24	All	Stock ➡️ openpilot available1	0 mph	0 mph		➡️	Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here

📖 Detail Sentence Changes

• Sentence for Toyota C-HR 2021 changed!

  - openpilot upgrades your <strong>Toyota C-HR</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control.
  + openpilot upgrades your <strong>Toyota C-HR</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control <strong>that automatically resumes from a stop</strong>. Traffic light and stop sign handling is also available in <a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>.
  

• Sentence for Toyota C-HR Hybrid 2021-22 changed!

  - openpilot upgrades your <strong>Toyota C-HR Hybrid</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control.
  + openpilot upgrades your <strong>Toyota C-HR Hybrid</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control <strong>that automatically resumes from a stop</strong>. Traffic light and stop sign handling is also available in <a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>.
  

• Sentence for Toyota RAV4 2022 changed!

  - openpilot upgrades your <strong>Toyota RAV4</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control.
  + openpilot upgrades your <strong>Toyota RAV4</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control <strong>that automatically resumes from a stop</strong>. Traffic light and stop sign handling is also available in <a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>.
  

• Sentence for Toyota RAV4 Hybrid 2022 changed!

  - openpilot upgrades your <strong>Toyota RAV4 Hybrid</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control.
  + openpilot upgrades your <strong>Toyota RAV4 Hybrid</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control <strong>that automatically resumes from a stop</strong>. Traffic light and stop sign handling is also available in <a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>.
  

• Sentence for Toyota RAV4 2023-24 changed!

  - openpilot upgrades your <strong>Toyota RAV4</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control.
  + openpilot upgrades your <strong>Toyota RAV4</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control <strong>that automatically resumes from a stop</strong>. Traffic light and stop sign handling is also available in <a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>.
  

• Sentence for Toyota RAV4 Hybrid 2023-24 changed!

  - openpilot upgrades your <strong>Toyota RAV4 Hybrid</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control.
  + openpilot upgrades your <strong>Toyota RAV4 Hybrid</strong> with automated lane centering <strong>at all speeds</strong>, and adaptive cruise control <strong>that automatically resumes from a stop</strong>. Traffic light and stop sign handling is also available in <a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>.
  

[sshane]

Added notes and code to https://github.com/commaai/openpilot/pull/29541. This needs:

• [x] send ACC_HUD (to show AEB disabled and to avoid a fault since the radar sends it)
• [x] panda safety to allow tester present and add relay malfunction checking for ACC_CONTROL from the radar

[sshane]

@cydia2020 want to open the PR to send ACC_HUD for TSS2 cars? Will prepare us for disabling the radar (and DSU when that works). We can test it for you

[Korben00]

Hello

I was able to test this version. The AEB icon is on. Otherwise, everything else works perfectly except for the experimental mode quirks. Here's my route: 6719965b0e1d1737|2023-08-29--06-40-05-4

thanks @sshane

[Saber422]

A member whos 2019 Camery Hybrid has installed radar filter tried this branch. The route is "d9dabb878fb5b2c3|2023-09-01--06-36-07--0" FYR. It's no conflict with radar filter (https://github.com/eFiniLan/radar_acc_filter)

[Saber422]

Test for CHR 2022 GAS w/o comma power connection. It works good. route name"0bbe367c98fa1538|2023-10-07--10-20-46--0"

[sshane]

@Saber422 okay if I use that for test_models?

[Saber422]

Sure and tell me if you need other way to test.