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Toyota: add AEB message TX checks (#820) 

* Toyota: add AEB message TX checks

* misra
This commit is contained in:
Adeeb Shihadeh 2022-01-05 16:50:22 -08:00 committed by GitHub
parent 79f5e6fe86
commit f5857bc8fd
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 21 additions and 1 deletions
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9
board/safety/safety_toyota.h
View File

@ -172,6 +172,15 @@ static int toyota_tx_hook(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
bool block = (GET_BYTES_04(to_send) != 0U) || (GET_BYTE(to_send, 4) != 0U) || (GET_BYTE(to_send, 5) != 0U);
if (block) {
tx = 0;
}
}
// LTA steering check
// only sent to prevent dash errors, no actuation is accepted
if (addr == 0x191) {

13
tests/safety/test_toyota.py
View File

@ -74,12 +74,23 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
# Toyota gas gains are the same
def _interceptor_msg(self, gas, addr):
to_send = make_msg(0, addr, 6)
to_send[0].data[0] = (gas & 0xFF00) >> 8
to_send[0].data[0] = (gas & 0xFF00) >> 8
to_send[0].data[1] = gas & 0xFF
to_send[0].data[2] = (gas & 0xFF00) >> 8
to_send[0].data[3] = gas & 0xFF
return to_send
def test_block_aeb(self):
for controls_allowed in (True, False):
for bad in (True, False):
for _ in range(10):
self.safety.set_controls_allowed(controls_allowed)
dat = [random.randint(1, 255) for _ in range(7)]
if not bad:
dat = [0]*6 + dat[-1:]
msg = common.package_can_msg([0x283, 0, bytes(dat), 0])
self.assertEqual(not bad, self._tx(msg))
def test_accel_actuation_limits(self):
limits = ((MIN_ACCEL, MAX_ACCEL, UNSAFE_MODE.DEFAULT),
(MIN_ACCEL, MAX_ACCEL, UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))