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This commit is contained in:
FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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48
panda/board/safety/safety_toyota.h
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@@ -43,18 +43,28 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = {
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
#define TOYOTA_COMMON_TX_MSGS \
// Stock longitudinal
#define TOYOTA_COMMON_TX_MSGS \
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + PCM cancel cmds */ \
#define TOYOTA_COMMON_LONG_TX_MSGS \
TOYOTA_COMMON_TX_MSGS \
{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 */ \
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + ACC */ \
{0x1D3, 0, 8}, {0x750, 0, 8}, \
{0x411, 0, 8}, /* PCS_HUD */ \
{0x750, 0, 8}, /* radar diagnostic address */ \
const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
};
const CanMsg TOYOTA_LONG_TX_MSGS[] = {
TOYOTA_COMMON_LONG_TX_MSGS
};
const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
TOYOTA_COMMON_LONG_TX_MSGS
{0x200, 0, 6}, // gas interceptor
};
@@ -214,7 +224,11 @@ static void toyota_rx_hook(CANPacket_t *to_push) {
gas_interceptor_prev = gas_interceptor;
}
generic_rx_checks((addr == 0x2E4));
bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA
if (!toyota_stock_longitudinal) {
stock_ecu_detected = stock_ecu_detected || (addr == 0x343); // ACC_CONTROL
}
generic_rx_checks(stock_ecu_detected);
}
}
@@ -332,6 +346,15 @@ static bool toyota_tx_hook(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;
}
@@ -348,12 +371,19 @@ static safety_config toyota_init(uint16_t param) {
}
safety_config ret;
if (toyota_lta) {
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lta_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
BUILD_SAFETY_CFG(toyota_lta_rx_checks, TOYOTA_TX_MSGS);
if (toyota_stock_longitudinal) {
SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
} else {
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lka_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
BUILD_SAFETY_CFG(toyota_lka_rx_checks, TOYOTA_TX_MSGS);
enable_gas_interceptor ? SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret) : \
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
}
if (enable_gas_interceptor) {
toyota_lta ? SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret) : \
SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret);
} else {
toyota_lta ? SET_RX_CHECKS(toyota_lta_rx_checks, ret) : \
SET_RX_CHECKS(toyota_lka_rx_checks, ret);
}
return ret;
}