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Toyota: Add SECOC long support #2061

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Toyota: Add SECOC long support #2061

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056f95b
Add secoc acc transmit
chrispypatt Oct 18, 2024
65ef827
Add TOYOTA_COMMON_LONG_TX_MSGS to SECOC version
chrispypatt Oct 18, 2024
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19 changes: 18 additions & 1 deletion board/safety/safety_toyota.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,14 @@
{0x411, 0, 8}, /* PCS_HUD */ \
{0x750, 0, 8}, /* radar diagnostic address */ \

#define TOYOTA_COMMON_LONG_SECOC_TX_MSGS \
TOYOTA_COMMON_SECOC_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 */ \
{0x411, 0, 8}, /* PCS_HUD */ \
{0x750, 0, 8}, /* radar diagnostic address */ \
{0x183, 0, 8}, \

#define TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \
Expand Down Expand Up @@ -330,6 +338,10 @@ static safety_config toyota_init(uint16_t param) {
TOYOTA_COMMON_LONG_TX_MSGS
};

static const CanMsg TOYOTA_SECOC_LONG_TX_MSGS[] = {
TOYOTA_COMMON_LONG_SECOC_TX_MSGS
};

// safety param flags
// first byte is for EPS factor, second is for flags
const uint32_t TOYOTA_PARAM_OFFSET = 8U;
Expand All @@ -356,7 +368,11 @@ 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_secoc) {
SET_TX_MSGS(TOYOTA_SECOC_LONG_TX_MSGS, ret);
} else {
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
}
}

if (toyota_lta) {
Expand Down Expand Up @@ -393,6 +409,7 @@ static int toyota_fwd_hook(int bus_num, int addr) {
is_lkas_msg |= toyota_secoc && (addr == 0x131);
// in TSS2 the camera does ACC as well, so filter 0x343
bool is_acc_msg = (addr == 0x343);
is_acc_msg |= toyota_secoc && (addr == 0x183);
bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
if (!block_msg) {
bus_fwd = 0;
Expand Down
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