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()