From 488e4abe28e10249000eb236b213e41b1f811b83 Mon Sep 17 00:00:00 2001
From: ErichMoraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Tue, 26 Dec 2017 18:59:34 -0600
Subject: [PATCH] Update carstate.py

Added PRIUS_PRIME, still pointing to toyota_prius_2017_pt.dbc for now.
---
 selfdrive/car/toyota/carstate.py | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e85902f944b9e5..5a559a89653f1a 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -18,6 +18,17 @@ def parse_gear_shifter(can_gear, car_fingerprint):
       return "drive"
     elif can_gear == 0x4:
       return "brake"
+  elif car_fingerprint == CAR.PRIUS_PRIME:
+    if can_gear == 0x0:
+      return "park"
+    elif can_gear == 0x1:
+      return "reverse"
+    elif can_gear == 0x2:
+      return "neutral"
+    elif can_gear == 0x3:
+      return "drive"
+    elif can_gear == 0x4:
+      return "brake"
   elif car_fingerprint in [CAR.RAV4, CAR.RAV4H]:
     if can_gear == 0x20:
       return "park"
@@ -46,6 +57,17 @@ def get_can_parser(CP):
       (550, 40),
       (581, 33)
     ]
+  elif CP.carFingerprint == CAR.PRIUS_PRIME:
+    dbc_f = 'toyota_prius_2017_pt.dbc'
+    signals = [
+      ("GEAR", 295, 0),
+      ("BRAKE_PRESSED", 550, 0),
+      ("GAS_PEDAL", 581, 0),
+    ]
+    checks = [
+      (550, 40),
+      (581, 33)
+    ]
   elif CP.carFingerprint == CAR.RAV4H:
     dbc_f = 'toyota_rav4_hybrid_2017_pt.dbc'
     signals = [
@@ -141,6 +163,10 @@ def update(self, cp):
       can_gear = cp.vl[295]['GEAR']
       self.brake_pressed = cp.vl[550]['BRAKE_PRESSED']
       self.pedal_gas = cp.vl[581]['GAS_PEDAL']
+    elif self.car_fingerprint == CAR.PRIUS_PRIME:
+      can_gear = cp.vl[295]['GEAR']
+      self.brake_pressed = cp.vl[550]['BRAKE_PRESSED']
+      self.pedal_gas = cp.vl[581]['GAS_PEDAL']
     elif self.car_fingerprint == CAR.RAV4H:
       can_gear = cp.vl[956]['GEAR']
       self.brake_pressed = cp.vl[550]['BRAKE_PRESSED']