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Auto hold #30

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merged 8 commits into from
Mar 16, 2024
Merged

Auto hold #30

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e1f1d02
auto break hold
rav4kumar Feb 24, 2024
fb6b6f9
ff
rav4kumar Feb 25, 2024
e0d74f0
pass
rav4kumar Feb 25, 2024
f19a457
syn
rav4kumar Feb 25, 2024
b22f846
Merge branch 'master' into auto_hold
rav4kumar Feb 26, 2024
38616e6
Merge branch 'master' into auto_hold
rav4kumar Mar 10, 2024
2bb4d22
Merge branch 'master' into auto_hold
rav4kumar Mar 14, 2024
e18b9f8
comments
rav4kumar Mar 16, 2024
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18 changes: 17 additions & 1 deletion board/safety/safety_toyota.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
{.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 }}}, \
{.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
{.msg = {{0x1D3, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \
{.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \
{0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \

Expand Down Expand Up @@ -190,6 +191,13 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
}
}

//DP: abh wrap lateral controls on main
if (addr == 0x1D3) {
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why do we need this?

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To check the status of mainon. We only want to allow Break hold when mainon is active

// ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
// Signal: PCM_CRUISE_2/MAIN_ON at 15th bit
acc_main_on = GET_BIT(to_push, 15U);
}

// sample speed
if (addr == 0xaa) {
int speed = 0;
Expand Down Expand Up @@ -339,6 +347,12 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
}
}
}
// DP: auto break hold https://github.com/AlexandreSato
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
Expand Down Expand Up @@ -403,7 +417,9 @@ 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);
// DP: 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;
}
Expand Down
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