commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Toyota: AEB safety

This commit is contained in:
Adeeb Shihadeh 2024-09-10 16:51:04 -07:00 committed by Comma Device
parent fcccbb3a13
commit f48e9890e6
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
board/safety/safety_toyota.h
View File

@ -47,6 +47,7 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = {
{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 */ \
{0x283, 0, 7}, {0x344, 0, 8}, /* pre-collision (AEB) */ \
const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
@ -214,6 +215,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
}
}
/*
// AEB: block all actuation. only used when DSU is unplugged
if (addr == 0x283) {
// only allow the checksum, which is the last byte
@ -222,6 +224,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
tx = false;
}
}
*/
// LTA angle steering check
if (addr == 0x191) {
@ -326,13 +329,12 @@ static int toyota_fwd_hook(int bus_num, int addr) {
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
// block stock lkas messages and stock acc messages (if OP is doing ACC)
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
// in TSS2 the camera does ACC as well, so filter 0x343
bool is_acc_msg = (addr == 0x343);
bool is_acc_msg = (addr == 0x343) || (addr == 0x283) || (addr == 0x344);
bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
if (!block_msg) {
bus_fwd = 0;