Add BrakeDisablesLateral toggle option and implement related functionality

common/params_keys.h

@@ -135,4 +135,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"NoFSC", {PERSISTENT, BOOL}},
     {"BlendedACC", {PERSISTENT, BOOL}},
     {"ManualTransmission", {PERSISTENT, BOOL}},
+    {"BrakeDisablesLateral", {PERSISTENT, BOOL, "1"}},
 };

opendbc_repo/opendbc/safety/safety.h

@@ -79,6 +79,7 @@ struct sample_t angle_meas;         // last 6 steer angles/curvatures
 
 
 int alternative_experience = 0;
+bool brake_disables_lateral = true;  // whether brake press disables lateral control (true = brake does disable)
 
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
@@ -341,8 +342,8 @@ static void relay_malfunction_set(void) {
 static void generic_rx_checks(void) {
   gas_pressed_prev = gas_pressed;
 
-  // exit controls on rising edge of brake press
-  if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
+  // exit controls on rising edge of brake press (unless brake_disables_lateral is false)
+  if (brake_pressed && (!brake_pressed_prev || vehicle_moving) && brake_disables_lateral) {
     controls_allowed = false;
   }
   brake_pressed_prev = brake_pressed;

panda/board/main_comms.h

@@ -319,6 +319,10 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         UNUSED(ret);
       }
       break;
+    // **** 0xfd: set brake disables lateral
+    case 0xfd:
+      brake_disables_lateral = (req->param1 != 0U);
+      break;
     default:
       print("NO HANDLER ");
       puth(req->request);

selfdrive/pandad/panda.cc

@@ -176,6 +176,10 @@ void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) {
   handle->control_write(0xfc, bus, non_iso);
 }
 
+void Panda::set_brake_disables_lateral(bool brake_disables_lateral) {
+  handle->control_write(0xfd, brake_disables_lateral, 0);
+}
+
 static uint8_t len_to_dlc(uint8_t len) {
   if (len <= 8) {
     return len;

selfdrive/pandad/panda.h

@@ -82,6 +82,7 @@ public:
   void set_can_fd_auto(uint16_t bus, bool enabled);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
+  void set_brake_disables_lateral(bool brake_disables_lateral);
   void can_send(const capnp::List<cereal::CanData>::Reader &can_data_list);
   bool can_receive(std::vector<can_frame>& out_vec);
   void can_reset_communications();

selfdrive/pandad/pandad.cc

@@ -375,6 +375,7 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
   static int prev_ir_pwr = 999;
   static uint32_t prev_frame_id = UINT32_MAX;
   static bool driver_view = false;
+  static bool prev_brake_disables_lateral = true;
 
   // TODO: can we merge these?
   static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -391,6 +392,13 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       }
     }
 
+    // Brake disables lateral control setting
+    bool brake_disables_lateral = params.getBool("BrakeDisablesLateral");
+    if (brake_disables_lateral != prev_brake_disables_lateral || sm.frame % 100 == 0) {
+      panda->set_brake_disables_lateral(brake_disables_lateral);
+      prev_brake_disables_lateral = brake_disables_lateral;
+    }
+
     if (sm.updated("driverCameraState")) {
       auto event = sm["driverCameraState"];
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();

selfdrive/ui/layouts/settings/toggles.py

@@ -36,6 +36,7 @@ DESCRIPTIONS = {
   "NoMRCC": tr_noop("Enable if your car does not have stock MRCC."),
   "NoFSC": tr_noop("Enable if your car does not have stock FSC."),
   "ManualTransmission": tr_noop("Enable if your car has a manual transmission."),
+  "BrakeDisablesLateral": tr_noop("When disabled, lateral control will not be disabled when the brake is pressed."),
 }
 
 
@@ -125,6 +126,12 @@ class TogglesLayout(Widget):
         "chffr_wheel.png",
         True,
       ),
+      "BrakeDisablesLateral": (
+        lambda: tr("Brake Disables Lateral Control"),
+        DESCRIPTIONS["BrakeDisablesLateral"],
+        "chffr_wheel.png",
+        False,
+      ),
     }
 
     self._long_personality_setting = multiple_button_item(

selfdrive/ui/mici/layouts/settings/toggles.py

@@ -30,6 +30,7 @@ class TogglesLayoutMici(NavWidget):
     enable_no_mrcc = BigParamControl("no stock MRCC", "NoMRCC", toggle_callback=restart_needed_callback)
     enable_no_fsc = BigParamControl("no stock FSC", "NoFSC", toggle_callback=restart_needed_callback)
     enable_manual_transmission = BigParamControl("manual transmission", "ManualTransmission", toggle_callback=restart_needed_callback)
+    brake_disables_lateral = BigParamControl("brake disables lateral", "BrakeDisablesLateral")
 
     self._scroller = Scroller([
       self._personality_toggle,
@@ -45,6 +46,7 @@ class TogglesLayoutMici(NavWidget):
       enable_no_mrcc,
       enable_no_fsc,
       enable_manual_transmission,
+      brake_disables_lateral,
     ], snap_items=False)
 
     # Toggle lists
@@ -61,6 +63,7 @@ class TogglesLayoutMici(NavWidget):
       ("NoMRCC", enable_no_mrcc),
       ("NoFSC", enable_no_fsc),
       ("ManualTransmission", enable_manual_transmission),
+      ("BrakeDisablesLateral", brake_disables_lateral),
     )
 
     enable_openpilot.set_enabled(lambda: not ui_state.engaged)