add back 0x750; remove test_accel_actuation_limits override

commaai · Jan 24, 2025 · 4d4eab4 · 4d4eab4
1 parent bff2e91
commit 4d4eab4
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -14,6 +14,7 @@
   TOYOTA_BASE_TX_MSGS \
   {0x2E4, 0, 8}, {0x131, 0, 8},  /* STEERING_LKA (longer message for SecOC), STEERING_LTA_2 */  \
   {0x183, 0, 8},  /* ACC_CONTROL_2 */  \
+  {0x750, 0, 8},  /* radar diagnostic address */  \
 
 #define TOYOTA_COMMON_LONG_TX_MSGS                                                                                                          \
   TOYOTA_COMMON_TX_MSGS                                                                                                                     \

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -10,7 +10,7 @@
 from panda.tests.safety.common import CANPackerPanda
 
 TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0]]  # LKAS + LTA + ACC & PCM cancel cmds
-TOYOTA_SECOC_TX_MSGS = [[0x131, 0], [0x183, 0]] + TOYOTA_COMMON_TX_MSGS
+TOYOTA_SECOC_TX_MSGS = [[0x131, 0], [0x183, 0], [0x750, 0]] + TOYOTA_COMMON_TX_MSGS
 TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
                               [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
                               [0x411, 0],  # PCS_HUD
@@ -374,9 +374,6 @@ def _should_tx_1(self, controls_allowed: bool, stock_longitudinal: bool, accel:
   def _should_tx_2(self, controls_allowed: bool, stock_longitudinal: bool, accel: float, min_accel: float, max_accel: float):
     return (controls_allowed and min_accel <= accel <= max_accel) or accel == self.INACTIVE_ACCEL
 
-  def test_accel_actuation_limits(self, stock_longitudinal=False):
-    super().test_accel_actuation_limits(stock_longitudinal=stock_longitudinal)
-
 
 if __name__ == "__main__":
   unittest.main()