mawei/panda-meb
1
0
Fork 0
mirror of https://github.com/infiniteCable2/panda.git synced 2026-02-18 17:23:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

Toyota: radar disable safety (#1611)

Browse Source 
* toyota: add safety for tester present

* block ACC_HUD

* check stock ECU

* add test

* and now pass test

* check ACC_CONTROL for relay malfunction

* not needed

* split tx msgs, test_panda_safety_tx_cases was really helpful!

* now don't need this

* 0x343 is expected to be on bus 0 if stock long

* better as cases

* swap

* always block pre_collision if stock (used for dsu removal)

* do tx msgs

* fix comment
This commit is contained in:
Shane Smiskol
2024-02-15 01:22:06 -06:00
committed by GitHub
parent a037eebf38
commit 0a1ec8580e
2 changed files with 22 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
board/safety/safety_toyota.h
View File

@@ -52,6 +52,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \
{0x411, 0, 8}, /* PCS_HUD */ \
{0x750, 0, 8}, /* radar diagnostic address */ \
const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
@@ -340,6 +341,15 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
}
}
// UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x750) {
// this address is sub-addressed. only allow tester present to radar (0xF)
bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U);
if (invalid_uds_msg) {
tx = 0;
}
}
return tx;
}

13
tests/safety/test_toyota.py
View File

@@ -12,7 +12,8 @@ from panda.tests.safety.common import CANPackerPanda
TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0]] # LKAS + LTA + ACC & PCM cancel cmds
TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0
[0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1
[0x411, 0]] # PCS_HUD
[0x411, 0], # PCS_HUD
[0x750, 0]] # radar diagnostic address
GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]]
@@ -80,6 +81,13 @@ class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSa
values = {"CRUISE_ACTIVE": enable}
return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
def test_diagnostics(self, stock_longitudinal: bool = False):
for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"), # fwdCamera tester present
(False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"), # non-tester present
(True, b"\x0F\x02\x3E\x00\x00\x00\x00\x00")):
tester_present = libpanda_py.make_CANPacket(0x750, 0, msg)
self.assertEqual(should_tx and not stock_longitudinal, self._tx(tester_present))
def test_block_aeb(self, stock_longitudinal: bool = False):
for controls_allowed in (True, False):
for bad in (True, False):
@@ -316,6 +324,9 @@ class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
RELAY_MALFUNCTION_ADDRS = {0: (0x2E4,)}
FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191]}
def test_diagnostics(self, stock_longitudinal: bool = True):
super().test_diagnostics(stock_longitudinal=stock_longitudinal)
def test_block_aeb(self, stock_longitudinal: bool = True):
super().test_block_aeb(stock_longitudinal=stock_longitudinal)