sci init

dragonpilot-community · Sep 15, 2023 · b11547c · b11547c
1 parent ec3fd44
commit b11547c
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diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -31,6 +31,7 @@ const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {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
                                  {0x750, 0, 8}, // dp - white list 0x750 for Enhanced Diagnostic Request
+                                 {0x2fd, 0, 8}, // rick - for SCI
                                  {0x200, 0, 6}};  // interceptor
 
 AddrCheckStruct toyota_addr_checks[] = {
@@ -50,11 +51,13 @@ const uint32_t TOYOTA_EPS_FACTOR = (1U << TOYOTA_PARAM_OFFSET) - 1U;
 const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1U << TOYOTA_PARAM_OFFSET;
 const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2U << TOYOTA_PARAM_OFFSET;
 const uint32_t TOYOTA_PARAM_LTA = 4U << TOYOTA_PARAM_OFFSET;
+const uint32_t TOYOTA_PARAM_SCI = 8U << TOYOTA_PARAM_OFFSET;
 
 bool toyota_alt_brake = false;
 bool toyota_stock_longitudinal = false;
 bool toyota_lta = false;
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
+bool toyota_sci = false;
 
 static uint32_t toyota_compute_checksum(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
@@ -209,6 +212,21 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
       }
     }
 
+    // rick - sci, use lta rules
+    if (addr == 0x2fd) {
+      // check the STEER_REQUEST, STEER_REQUEST_2, SETME_X64 STEER_ANGLE_CMD signals
+      bool lta_request = GET_BIT(to_send, 0U) != 0U;
+      bool lta_request2 = GET_BIT(to_send, 25U) != 0U;
+      int setme_x64 = GET_BYTE(to_send, 5);
+      int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
+      lta_angle = to_signed(lta_angle, 16);
+
+      // block LTA msgs with actuation requests
+      if (lta_request || lta_request2 || (lta_angle != 0) || (setme_x64 != 0)) {
+        tx = 0;
+      }
+    }
+
     // STEER: safety check on bytes 2-3
     if (addr == 0x2E4) {
       int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
@@ -232,6 +250,7 @@ static const addr_checks* toyota_init(uint16_t param) {
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
+  toyota_sci = GET_FLAG(param, TOYOTA_SCI);
 
 #ifdef ALLOW_DEBUG
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);

diff --git a/python/__init__.py b/python/__init__.py
@@ -229,6 +229,7 @@ class Panda:
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
   FLAG_TOYOTA_LTA = (4 << 8)
+  FLAG_TOYOTA_SCI = (8 << 8)
 
   FLAG_HONDA_ALT_BRAKE = 1
   FLAG_HONDA_BOSCH_LONG = 2