Toyota: check ACC_CONTROL for relay malfunction (commaai#1870)

* check acc relay malfunction * do what they do
jackmerrill · Feb 15, 2024 · 27768f5 · 27768f5
1 parent ef68fea
commit 27768f5
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -209,7 +209,11 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
       gas_interceptor_prev = gas_interceptor;
     }
 
-    generic_rx_checks((addr == 0x2E4));
+    bool stock_ecu_detected = addr == 0x2E4;  // STEERING_LKA
+    if (!toyota_stock_longitudinal && (addr == 0x343)) {
+      stock_ecu_detected = true;  // ACC_CONTROL
+    }
+    generic_rx_checks(stock_ecu_detected);
   }
 }
 

diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -20,7 +20,7 @@ class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSa
 
   TX_MSGS = TOYOTA_COMMON_TX_MSGS
   STANDSTILL_THRESHOLD = 0  # kph
-  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4,)}
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x343)}
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
   EPS_SCALE = 73
@@ -311,7 +311,8 @@ class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase,
 
 class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
 
-  # Base fwd addresses minus ACC_CONTROL (0x343)
+  # Base addresses minus ACC_CONTROL (0x343)
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4,)}
   FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191]}
 
   def test_accel_actuation_limits(self, stock_longitudinal=True):