From 9b588590f7030df04f844097d07fcb94c1b6aad3 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 31 Mar 2025 13:42:02 +0800
Subject: [PATCH] Toyota Radar Filter - 2025/05/27

---
 opendbc_repo/opendbc/car/toyota/carcontroller.py |  4 ++--
 opendbc_repo/opendbc/car/toyota/interface.py     | 12 +++++++++++-
 opendbc_repo/opendbc/car/toyota/values.py        |  2 ++
 3 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index 80864c2cc..6d5a9bf35 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -268,7 +268,7 @@ class CarController(CarControllerBase):
                                                      hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                                      hud_control.rightLaneDepart, lat_active, CS.lkas_hud))
 
-      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
+      if not self.CP.flags & ToyotaFlags.RADAR_FILTER.value and (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
         can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
@@ -277,7 +277,7 @@ class CarController(CarControllerBase):
         can_sends.append(CanData(addr, vl, bus))
 
     # keep radar disabled
-    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if not self.CP.flags & ToyotaFlags.RADAR_FILTER.value and self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
 
     new_actuators = actuators.as_builder()
diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index b0f75ef7d..e5ab33958 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -118,6 +118,16 @@ class CarInterface(CarInterfaceBase):
       if experimental_long and candidate in RADAR_ACC_CAR:
         ret.flags |= ToyotaFlags.DISABLE_RADAR.value
 
+      # RADAR_ACC_CAR = CHR TSS2 / RAV4 TSS2
+      # NO_DSU_CAR = CAMRY / CHR
+      if 0x2FF in fingerprint[0] or 0x2AA in fingerprint[0]:
+        print("----------------------------------------------")
+        print("dragonpilot: RADAR_FILTER detected!")
+        print("----------------------------------------------")
+        ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.LONG_FILTER.value
+        ret.experimentalLongitudinalAvailable = False
+        ret.flags |= ToyotaFlags.RADAR_FILTER.value | ToyotaFlags.DISABLE_RADAR.value
+
     # openpilot longitudinal enabled by default:
     #  - cars w/ DSU disconnected
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
@@ -156,6 +166,6 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def init(CP, can_recv, can_send):
     # disable radar if alpha longitudinal toggled on radar-ACC car
-    if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if not CP.flags & ToyotaFlags.RADAR_FILTER.value and CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index 4848a354e..e82af27d0 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -55,6 +55,7 @@ class ToyotaSafetyFlags(IntFlag):
   STOCK_LONGITUDINAL = (2 << 8)
   LTA = (4 << 8)
   SECOC = (8 << 8)
+  LONG_FILTER = (16 << 8)
 
 
 class ToyotaFlags(IntFlag):
@@ -77,6 +78,7 @@ class ToyotaFlags(IntFlag):
   SECOC = 2048
 
   ALKA = 2 ** 12
+  RADAR_FILTER = 2 ** 13
 
 class Footnote(Enum):
   CAMRY = CarFootnote(