From 4d4eab4d3780b31a5cd43ce63e86259cd1eb1d09 Mon Sep 17 00:00:00 2001 From: chrispypatt <christriplenickel@yahoo.com> Date: Thu, 23 Jan 2025 23:13:18 -0600 Subject: [PATCH] add back 0x750; remove test_accel_actuation_limits override --- board/safety/safety_toyota.h | 1 + tests/safety/test_toyota.py | 5 +---- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h index cdbdd0f4ae..b365a6647b 100644 --- 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 index 450fa5c977..e170f14b64 100755 --- 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()