From b1d4c8a83b5b653df10ec10c8eeddd29946dd597 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Tue, 27 May 2025 11:55:32 +0800
Subject: [PATCH] Toyota Long Filter - 2025-06-13

---
 opendbc_repo/opendbc/car/toyota/values.py  |  1 +
 opendbc_repo/opendbc/safety/modes/toyota.h | 27 +++++++++++++++++++++-
 2 files changed, 27 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index f10f7d0ce..2a9d25711 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):
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index 4c6ae77d6..d8d65d90d 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -31,6 +31,19 @@
   /* ACC */                            \
   {0x343, 0, 8, .check_relay = true},  \
 
+#define TOYOTA_COMMON_LONG_TX_MSGS_FILTER                                                                                                                                                           \
+  TOYOTA_COMMON_TX_MSGS \
+  /* DSU bus 0 */ \
+  {0x283, 0, 7, .check_relay = false}, {0x2E6, 0, 8, .check_relay = false}, {0x2E7, 0, 8, .check_relay = false}, {0x33E, 0, 7, .check_relay = false}, \
+  {0x344, 0, 8, .check_relay = false}, {0x365, 0, 7, .check_relay = false}, {0x366, 0, 7, .check_relay = false}, {0x4CB, 0, 8, .check_relay = false}, \
+  /* DSU bus 1 */ \
+  {0x128, 1, 6, .check_relay = false}, {0x141, 1, 4, .check_relay = false}, {0x160, 1, 8, .check_relay = false}, {0x161, 1, 7, .check_relay = false}, \
+  {0x470, 1, 4, .check_relay = false}, \
+  /* PCS_HUD */                        \
+  {0x411, 0, 8, .check_relay = false}, \
+  /* radar diagnostic address */       \
+  {0x750, 0, 8, .check_relay = false}, \
+
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                       \
   {.msg = {{ 0xaa, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 83U}, { 0 }, { 0 }}},  \
   {.msg = {{0x260, 0, 8, .ignore_counter = true, .ignore_quality_flag=!(lta), .frequency = 50U}, { 0 }, { 0 }}},                           \
@@ -56,6 +69,7 @@ static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
 static bool toyota_lta = false;
 static int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
+static bool toyota_long_filter = false;
 
 static uint32_t toyota_compute_checksum(const CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
@@ -345,6 +359,10 @@ static safety_config toyota_init(uint16_t param) {
     TOYOTA_COMMON_LONG_TX_MSGS
   };
 
+  static const CanMsg TOYOTA_LONG_TX_MSGS_FILTER[] = {
+    TOYOTA_COMMON_LONG_TX_MSGS_FILTER
+  };
+
   // safety param flags
   // first byte is for EPS factor, second is for flags
   const uint32_t TOYOTA_PARAM_OFFSET = 8U;
@@ -358,10 +376,13 @@ static safety_config toyota_init(uint16_t param) {
   toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC);
 #endif
 
+  const uint32_t TOYOTA_PARAM_LONG_FILTER = 16U << TOYOTA_PARAM_OFFSET;
+
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
   toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
+  toyota_long_filter = GET_FLAG(param, TOYOTA_PARAM_LONG_FILTER);
 
   safety_config ret;
   if (toyota_stock_longitudinal) {
@@ -371,7 +392,11 @@ static safety_config toyota_init(uint16_t param) {
       SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
     }
   } else {
-    SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
+    if (toyota_long_filter) {
+      SET_TX_MSGS(TOYOTA_LONG_TX_MSGS_FILTER, ret);
+    } else {
+      SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
+    }
   }
 
   if (toyota_secoc) {