Toyota Safety: cleaned up logic for TSSP2.0 cars

commaai · May 6, 2019 · 005e131 · 005e131
1 parent b53fb27
commit 005e131
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -171,8 +171,10 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   // don't forward when switch 1 is high
   if ((bus_num == 0 || bus_num == 2) && toyota_camera_forwarded && !toyota_giraffe_switch_1) {
     int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412 || addr == 0x343) && bus_num == 2;
-    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+    bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
+    // in TSSP 2.0 the camera does ACC as well, so filter 0x343
+    bool is_acc_msg = (addr == 0x343 && bus_num  == 2);
+    return (is_lkas_msg || is_acc_msg)? -1 : (uint8_t)(~bus_num & 0x2);
   }
   return -1;
 }