allow sending 0x131, STEERING_LTA_2

commaai · Feb 1, 2024 · 87c88e0 · 87c88e0
1 parent b0ca800
commit 87c88e0
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -46,7 +46,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
 #define TOYOTA_COMMON_TX_MSGS                                                                                                               \
   {0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8},  /* DSU bus 0 */  \
   {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4},  /* DSU bus 1 */                                               \
-  {0x2E4, 0, 5}, {0x2E4, 0, 8}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + ACC */                               \
+  {0x2E4, 0, 5}, {0x2E4, 0, 8}, {0x131, 0, 8}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + ACC */                               \
 
 const CanMsg TOYOTA_TX_MSGS[] = {
   TOYOTA_COMMON_TX_MSGS
@@ -267,6 +267,14 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       }
     }
 
+    // LTA angle steering check for SecOC cars
+    if (addr == 0x131) {
+      // Block any form of actuation for now
+      if (GET_BYTE(to_send, 0)) {
+        tx = false;
+      }
+    }
+
     // LTA angle steering check
     if (addr == 0x191) {
       // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals