Toyota: ACC message relay check (commaai#1612)

* toyota: add safety for tester present * block ACC_HUD * check stock ECU * clean up * not this * test new addr * comment * rm * cmt
sunnypilot · Aug 27, 2023 · 5a9d8cf · 5a9d8cf
1 parent 0eb04fa
commit 5a9d8cf
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -129,7 +129,12 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
       gas_interceptor_prev = gas_interceptor;
     }
 
-    generic_rx_checks((addr == 0x2E4));
+    bool stock_ecu_detected = (addr == 0x2E4);
+    // Also check ACC_CONTROL (0x343) if openpilot is controlling longitudinal (radar is disabled or camera sends ACC messages)
+    if (!toyota_stock_longitudinal && (addr == 0x343)) {
+      stock_ecu_detected = true;
+    }
+    generic_rx_checks(stock_ecu_detected);
   }
   return valid;
 }

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -27,7 +27,7 @@ class TestToyotaSafetyBase(common.PandaSafetyTest, common.InterceptorSafetyTest,
              [0x2E4, 0], [0x191, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0],  # LKAS + ACC
              [0x200, 0], [0x750, 0]]  # interceptor + blindspot monitor
   STANDSTILL_THRESHOLD = 0  # kph
-  RELAY_MALFUNCTION_ADDR = 0x2E4
+  RELAY_MALFUNCTION_ADDR = 0x343  # ACC_CONTROL
   RELAY_MALFUNCTION_BUS = 0
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
@@ -180,7 +180,8 @@ def test_lta_steer_cmd(self):
 
 class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
 
-  # Base fwd addresses minus ACC_CONTROL (0x343)
+  # Forwarding: base addresses minus ACC_CONTROL (0x343), relay malfunction: STEERING_LKA
+  RELAY_MALFUNCTION_ADDR = 0x2E4
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191]}
 
   def test_accel_actuation_limits(self, stock_longitudinal=True):