From f48e9890e62bc9b1f8fde0fee7b3dbec9efe586d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 10 Sep 2024 16:51:04 -0700 Subject: [PATCH] Toyota: AEB safety --- board/safety/safety_toyota.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h index 05f84e460..f764d4de8 100644 --- a/board/safety/safety_toyota.h +++ b/board/safety/safety_toyota.h @@ -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;