Add ACC_CONTROL_3 message

PenitentTangent2401 · Dec 31, 2024 · 9743221 · 9743221
1 parent 92beac6
commit 9743221
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diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - secoc_long
   pull_request:
 
 concurrency:

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}, {0x411, 0, 8},  /* ACC_CONTROL_2, PCS_HUD */  \
+  {0x24D, 0, 8}, /* ACC_CONTROL_3 */ \
   {0x750, 0, 8},  /* radar diagnostic address */  \
 
 #define TOYOTA_COMMON_LONG_TX_MSGS                                                                                                          \
@@ -230,6 +231,13 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
         tx = false;
       }
     }
+    if (addr == 0x24D) {
+      bool violation = !toyota_secoc; // Only SecOC cars may transmit this message
+
+      if (violation) {
+        tx = false;
+      }
+    }
 
     // AEB: block all actuation. only used when DSU is unplugged
     if (addr == 0x283) {