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Share Toyota RX checks across exact filter profiles

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firestar5683
2026-10-20 23:08:42 -05:00
parent ad84d01235
commit 10be50fd7c
1 changed files with 9 additions and 19 deletions
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opendbc_repo/opendbc/safety/modes/toyota.h
+9 -19
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@@ -56,11 +56,6 @@
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x226, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_ALT_BRAKE_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{0x1D2, 0, 8, 33U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x224, 0, 8, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define TOYOTA_SECOC_RX_CHECKS \
TOYOTA_COMMON_RX_CHECKS(false) \
{.msg = {{0x176, 0, 8, 32U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
@@ -571,23 +566,18 @@ static safety_config toyota_init(uint16_t param) {
SET_RX_CHECKS(toyota_lta_rx_checks, ret);
} else {
// The final entry belongs only to the exact RAV4H filter profile. Share
// the ordinary checks instead of duplicating their mutable status table.
static RxCheck toyota_lka_rx_checks[] = {
TOYOTA_RX_CHECKS(false)
{.msg = {{0x2FF, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = false}, { 0 }, { 0 }}},
};
static RxCheck toyota_lka_alt_brake_rx_checks[] = {
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
};
if ((param == 0x9049U) || (param == 0x9249U)) {
static RxCheck toyota_rav4h_filter_rx_checks[] = {
TOYOTA_RX_CHECKS(false)
{.msg = {{0x2FF, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = false}, { 0 }, { 0 }}},
};
SET_RX_CHECKS(toyota_rav4h_filter_rx_checks, ret);
} else if (!toyota_alt_brake) {
SET_RX_CHECKS(toyota_lka_rx_checks, ret);
} else {
SET_RX_CHECKS(toyota_lka_alt_brake_rx_checks, ret);
// The alternate-brake profile differs only in this source address. Reuse
// the same workspace; set_safety_hooks resets all active mutable status.
toyota_lka_rx_checks[3].msg[0].addr = toyota_alt_brake ? 0x224U : 0x226U;
SET_RX_CHECKS(toyota_lka_rx_checks, ret);
if ((param != 0x9049U) && (param != 0x9249U)) {
ret.rx_checks_len -= 1; // Ordinary profiles do not require smartDSU.
}
}