From b31631e5fa911e121992a4d1d13e6ed32cab9bfa Mon Sep 17 00:00:00 2001
From: MoreTorque <104254025+MoreTore@users.noreply.github.com>
Date: Fri, 13 Dec 2024 06:54:01 -0600
Subject: [PATCH] manual transmission

---
 common/params.cc                    | 1 +
 opendbc/mazda_2019.dbc              | 5 +++--
 selfdrive/car/mazda/carstate.py     | 7 +++++++
 selfdrive/car/mazda/interface.py    | 2 ++
 selfdrive/car/mazda/values.py       | 1 +
 selfdrive/ui/qt/offroad/settings.cc | 6 ++++++
 6 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 440ce49cb5..fa77a83c27 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -573,6 +573,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalLongTune", PERSISTENT},
     {"LongOutputGain", PERSISTENT},
     {"BlendedACC", PERSISTENT},
+    {"ManualTransmission", PERSISTENT},
 };
 
 } // namespace
diff --git a/opendbc/mazda_2019.dbc b/opendbc/mazda_2019.dbc
index 447fc7b07f..651c983cae 100644
--- a/opendbc/mazda_2019.dbc
+++ b/opendbc/mazda_2019.dbc
@@ -457,10 +457,10 @@ BO_ 533 WHEEL_SPEEDS: 8 XXX
 BO_ 535 SPEED: 8 XXX
  SG_ SPEED : 39|16@0+ (0.01,0) [0|65535] "" XXX
 
-BO_ 537 NEW_MSG_38: 8 XXX
+BO_ 537 MANUAL_GEAR: 8 XXX
  SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
  SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ GEAR_RELATED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 33|2@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 544 ACC: 8 XXX
@@ -630,6 +630,7 @@ BO_ 1868 EPS_FEEDBACK3: 8 XXX
 CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D";
 VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
 VAL_ 552 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
+VAL_ 537 GEAR 0 "P" 1 "D" 2 "R";
 VAL_ 552 GEAR_SHIFT 6 "6th" 5 "5th" 4 "4th" 3 "3rd" 2 "2nd" 1 "1st" 14 "Shift" 13 "Park" 11 "Neutral" 12 "Reverse";
 VAL_ 1098 CRZ_STATE 0 "CRUISE_DISABLED" 1 "CRUISE_READY" 2 "CRUISE_ENABLED" 4 "GAS_OVERRIDE";
 VAL_ 1098 DISTANCE_SETTING 4 "CLOSE" 3 "MEDIUM_CLOSE" 2 "MEDIUM_FAR" 1 "FAR" 0 "ACC_DISABLED";
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index ed7af70415..3ac776eba0 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -12,6 +12,8 @@ class CarState(CarStateBase):
 
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["GEAR"]["GEAR"]
+    if CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
+      self.shifter_values = can_define.dv["MANUAL_GEAR"]["GEAR"]
 
     self.crz_btns_counter = 0
     self.acc_active_last = False
@@ -303,6 +305,11 @@ class CarState(CarStateBase):
         ("SPEED", 50),
       ]
 
+      if CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
+        messages += [
+          ("MANUAL_GEAR", 50)
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   @staticmethod
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 539904143d..ca92940523 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -45,6 +45,8 @@ class CarInterface(CarInterfaceBase):
       if p.get_bool("NoFSC"):  # No Front Sensing Camera
         ret.flags |= MazdaFlags.NO_FSC.value
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_NO_FSC
+      if p.get_bool("ManualTransmission"):
+        ret.flags |= MazdaFlags.MANUAL_TRANSMISSION.value
 
       ret.steerActuatorDelay = 0.1
 
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 432386a34b..0f921b7386 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -66,6 +66,7 @@ class MazdaFlags(IntFlag):
   RADAR_INTERCEPTOR = 8
   NO_FSC = 16
   NO_MRCC = 32
+  MANUAL_TRANSMISSION = 64
 
 @dataclass
 class MazdaPlatformConfig(PlatformConfig):
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index aa0ce0f50d..268021d40a 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -84,6 +84,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Enable if your car does not have stock FSC."),
       "../assets/offroad/icon_openpilot.png",
     },
+    {
+      "ManualTransmission",
+      tr("Manual Transmission"),
+      tr("Enable if your is a manual."),
+      "../assets/offroad/icon_openpilot.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),