Alexandre Sato's Auto Brake Hold

dragonpilot-community · Jun 28, 2024 · aa18bc8 · aa18bc8
1 parent ce9642d
commit aa18bc8
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -291,6 +291,13 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
         }
       }
     }
+
+    // AleSato's automatic brakehold
+    if (addr == 0x344 && (alternative_experience & ALT_EXP_ALLOW_AEB)) {
+      if(vehicle_moving || gas_pressed || !acc_main_on) {
+        tx = false;
+      }
+    }
   }
 
   // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
@@ -337,7 +344,9 @@ static int toyota_fwd_hook(int bus_num, int addr) {
     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 block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
+    // Block AEB when stoped to use as a automatic brakehold
+    bool is_aeb_msg = (addr == 0x344 && (alternative_experience & ALT_EXP_ALLOW_AEB));
+    bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal) || (is_aeb_msg && !vehicle_moving && acc_main_on && !gas_pressed);
     if (!block_msg) {
       bus_fwd = 0;
     }