CAN Button OP

diff --git a/cereal/car.capnp b/cereal/car.capnp
index be31f66..8e81926 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -98,6 +98,8 @@ struct CarState {
   leftBlinker @20 :Bool;
   rightBlinker @21 :Bool;
   genericToggle @23 :Bool;
+  distanceToggle @26 :Bool;
+  laneDepartureToggle @27 :Bool;

   # lock info
   doorOpen @24 :Bool;
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index 3301bc0..911cc87 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -57,6 +57,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX

+BO_ 352 NEW_MSG_1: 8 XXX
+ SG_ LANE_DEPARTURE_BUTTON : 39|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
@@ -97,6 +100,7 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ ACC_DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 3fd19f9..40417d8 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -76,6 +76,20 @@ class CarController(object):

   def update(self, sendcan, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, audible_alert):
+
+    # init Button Tests
+    if CS.distance_toggle:
+        actuators.steer = 1.0
+        with open("/distance.log", "a") as distance:
+            distance.write("pressed once")
+    if CS.lane_departure_toggle:
+        actuators.steer = 1.0
+        with open("/lane.log", "a") as lane:
+                lane.write("pressed once")
+    if CS.generic_toggle:
+        actuators.steer = 1.0
+        with open("/generic.log", "a") as generic:
+                generic.write("pressed once")

     # *** compute control surfaces ***

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 24fc852..ee74889 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -77,6 +77,8 @@ def get_can_parser(CP):
     ("LKA_STATE", "EPS_STATUS", 0),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ("ACC_DISTANCE", "ACC_CONTROL", 0),
+    ("LANE_DEPARTURE_BUTTON", "NEW_MSG_1", 0),
   ]

   checks = [
@@ -171,3 +173,5 @@ class CarState(object):
     self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+    self.lane_departure_toggle = bool(cp.vl["NEW_MSG_1"]['LANE_DEPARTURE_BUTTON'])
+    self.distance_toggle = bool(cp.vl["ACC_CONTROL"]['ACC_DISTANCE'])
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 53cfbb1..9bf07d4 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -239,7 +239,15 @@ class CarInterface(object):
     ret.seatbeltUnlatched = not self.CS.seatbelt

     ret.genericToggle = self.CS.generic_toggle
-
+    ret.laneDepartureToggle = self.CS.lane_departure_toggle
+    ret.distanceToggle = self.CS.distance_toggle