Auracast

common/params_keys.h

@@ -640,6 +640,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"VeryLongModeButtonControl", {PERSISTENT, INT, "0", "0", 2}},
     {"VeryLongStarButtonControl", {PERSISTENT, INT, "0", "0", 2}},
     {"VoltSNG", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"JeepBrakeHold", {PERSISTENT, BOOL, "0", "0", 2}},
     {"GMAutoHold", {PERSISTENT, BOOL, "0", "0", 2}},
     {"VoltOnePedalMode", {PERSISTENT, BOOL, "0", "0", 2}},
     {"ToyotaAutoHold", {PERSISTENT, BOOL, "0", "0", 2}},

opendbc_repo/opendbc/car/chrysler/carcontroller.py

@@ -2,9 +2,28 @@ from opendbc.can import CANPacker
 from opendbc.car import Bus, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits
 from opendbc.car.chrysler import chryslercan
-from opendbc.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerStarPilotFlags
+from opendbc.car.chrysler.values import JEEPS, RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerSafetyFlags, ChryslerStarPilotFlags
 from opendbc.car.interfaces import CarControllerBase
 
+JEEP_BRAKE_HOLD_DEFAULT_DECEL = -2.0
+JEEP_BRAKE_HOLD_MIN_DECEL = -0.5
+JEEP_BRAKE_HOLD_MAX_DECEL = -3.0
+
+
+def clip_jeep_brake_hold_decel(decel: float) -> float:
+  return max(JEEP_BRAKE_HOLD_MAX_DECEL, min(JEEP_BRAKE_HOLD_MIN_DECEL, float(decel)))
+
+
+def supports_jeep_brake_hold(CP, brake_hold_enabled: bool) -> bool:
+  safety_cfg = getattr(CP, "safetyConfigs", ())
+  safety_param = safety_cfg[0].safetyParam if safety_cfg else 0
+  return (
+    brake_hold_enabled and
+    getattr(CP, "pcmCruise", False) and
+    CP.carFingerprint in JEEPS and
+    bool(safety_param & ChryslerSafetyFlags.JEEP_BRAKE_HOLD.value)
+  )
+
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
@@ -18,6 +37,8 @@ class CarController(CarControllerBase):
 
     self.packer = CANPacker(dbc_names[Bus.pt])
     self.params = CarControllerParams(CP)
+    self.jeep_brake_hold_decel = JEEP_BRAKE_HOLD_DEFAULT_DECEL
+    self.last_das_3_counter = -1
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     can_sends = []
@@ -82,6 +103,11 @@ class CarController(CarControllerBase):
 
       can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_torque), lkas_control_bit))
 
+    if supports_jeep_brake_hold(self.CP, getattr(starpilot_toggles, "jeep_brake_hold", False)):
+      self.update_jeep_brake_hold(CC, CS, can_sends)
+    elif getattr(CS, "brake_hold", False):
+      CS.brake_hold = False
+
     self.frame += 1
 
     new_actuators = CC.actuators.as_builder()
@@ -89,3 +115,43 @@ class CarController(CarControllerBase):
     new_actuators.torqueOutputCan = self.apply_torque_last
 
     return new_actuators, can_sends
+
+  def update_jeep_brake_hold(self, CC, CS, can_sends):
+    if not getattr(CS, "das_3", None):
+      CS.brake_hold = False
+      return
+
+    counter_changed = CS.das_3.get("COUNTER") != self.last_das_3_counter
+    self.last_das_3_counter = CS.das_3.get("COUNTER")
+
+    if not CS.brake_hold and CS.cruise_active_actual and CS.acc_decelerating and CS.out.standstill:
+      CS.brake_hold = True
+      self.jeep_brake_hold_decel = JEEP_BRAKE_HOLD_DEFAULT_DECEL
+
+    driver_intervened = (
+      CC.cruiseControl.cancel or
+      CS.out.gasPressed or
+      CS.out.brakePressed or
+      not CS.forward_gear or
+      not CS.out.standstill
+    )
+    if CS.brake_hold and driver_intervened:
+      CS.brake_hold = False
+      return
+
+    if not CS.brake_hold:
+      return
+
+    if CS.cruise_active_actual:
+      self.jeep_brake_hold_decel = clip_jeep_brake_hold_decel(
+        min(self.jeep_brake_hold_decel, CS.das_3.get("ACC_DECEL", JEEP_BRAKE_HOLD_DEFAULT_DECEL))
+      )
+      return
+
+    counter_offset = 2 if counter_changed else 3
+    can_sends.append(chryslercan.create_das_3_command(self.packer, counter_offset, self.jeep_brake_hold_decel, CS.das_3))
+
+    if self.frame % 10 == 0:
+      can_sends.append(chryslercan.create_cruise_buttons(
+        self.packer, CS.button_counter + 1, 0, CS.button_message, resume=True
+      ))

opendbc_repo/opendbc/car/chrysler/carstate.py

@@ -1,7 +1,7 @@
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
-from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, ChryslerStarPilotFlags
+from opendbc.car.chrysler.values import DBC, JEEPS, STEER_THRESHOLD, RAM_CARS, ChryslerStarPilotFlags
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 
@@ -29,6 +29,11 @@ class CarState(CarStateBase):
     self.button_message = "CRUISE_BUTTONS_ALT" if FPCP.flags & ChryslerStarPilotFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
 
     self.lkas_button = 0
+    self.brake_hold = False
+    self.cruise_active_actual = False
+    self.forward_gear = False
+    self.acc_decelerating = False
+    self.das_3 = {}
 
   @staticmethod
   def get_lkas_button(pt_signals, is_ram: bool) -> bool:
@@ -93,6 +98,13 @@ class CarState(CarStateBase):
     ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
     ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
+    if self.CP.carFingerprint in JEEPS:
+      self.forward_gear = ret.gearShifter == structs.CarState.GearShifter.drive
+      self.cruise_active_actual = ret.cruiseState.enabled
+      self.acc_decelerating = cp_cruise.vl["DAS_3"]["ACC_DECEL"] < -0.5
+      self.das_3 = dict(cp_cruise.vl["DAS_3"])
+      ret.brakeHoldActive = self.brake_hold
+
     if self.CP.carFingerprint in RAM_CARS:
       # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
       self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']

opendbc_repo/opendbc/car/chrysler/chryslercan.py

@@ -73,6 +73,21 @@ def create_cruise_buttons(packer, frame, bus, button_message, cancel=False, resu
   return packer.make_can_msg(button_message, bus, values)
 
 
+def create_das_3_command(packer, counter_offset, brake_decel, das_3):
+  values = das_3.copy()
+  values["ACC_AVAILABLE"] = 1
+  values["ACC_ACTIVE"] = 1
+  values["ACC_GO"] = 0
+  values["ACC_STANDSTILL"] = 0
+  values["ACC_DECEL_REQ"] = 1
+  values["ACC_DECEL"] = brake_decel
+  values["ACC_BRK_PREP"] = 0
+  values["ENGINE_TORQUE_REQUEST_MAX"] = 0
+  values["GR_MAX_REQ"] = 2
+  values["COUNTER"] = (das_3["COUNTER"] + counter_offset) % 0x10
+  return packer.make_can_msg("DAS_3", 0, values)
+
+
 def chrysler_checksum(address: int, sig, d: bytearray) -> int:
   checksum = 0xFF
   for j in range(len(d) - 1):

opendbc_repo/opendbc/car/chrysler/interface.py

@@ -3,8 +3,9 @@ from opendbc.car import get_safety_config, structs
 from opendbc.car.chrysler.carcontroller import CarController
 from opendbc.car.chrysler.carstate import CarState
 from opendbc.car.chrysler.radar_interface import RadarInterface
-from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
+from opendbc.car.chrysler.values import CAR, JEEPS, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase
+from openpilot.common.params import Params, UnknownKeyName
 
 
 class CarInterface(CarInterfaceBase):
@@ -14,6 +15,12 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    params = Params()
+    try:
+      jeep_brake_hold = params.get_bool("JeepBrakeHold")
+    except UnknownKeyName:
+      jeep_brake_hold = False
+
     ret.brand = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
@@ -28,6 +35,8 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_HD.value
     elif candidate in RAM_DT:
       ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value
+    elif candidate in JEEPS and jeep_brake_hold:
+      ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.JEEP_BRAKE_HOLD.value
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:

opendbc_repo/opendbc/car/chrysler/values.py

@@ -12,6 +12,7 @@ Ecu = CarParams.Ecu
 class ChryslerSafetyFlags(IntFlag):
   RAM_DT = 1
   RAM_HD = 2
+  JEEP_BRAKE_HOLD = 4
 
 
 class ChryslerFlags(IntFlag):
@@ -140,6 +141,7 @@ STEER_THRESHOLD = 120
 RAM_DT = {CAR.RAM_1500_5TH_GEN, }
 RAM_HD = {CAR.RAM_HD_5TH_GEN, }
 RAM_CARS = RAM_DT | RAM_HD
+JEEPS = {CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019}
 
 
 CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -652,6 +652,8 @@ class CarController(CarControllerBase):
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
     suppress_lfa = bool(lka_steering)
+    if self.CP.carFingerprint == CAR.KIA_EV9 and self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+      suppress_lfa = bool(lka_steering and CC.latActive)
     if self.frame % 5 == 0 and suppress_lfa:
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
                                                         self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -1460,7 +1460,28 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["STEER_MODE"] == 2
     assert parser.vl["LKAS_ALT"]["NEW_SIGNAL_2"] == 3
 
-  def test_ev9_inactive_angle_steering_still_suppresses_stock_lfa(self):
+  def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV9
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
+                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
+                         out=SimpleNamespace(steeringAngleDeg=0.0))
+
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+                                        get_test_toggles(), lka_icon=1, lfa_icon=1)
+    suppress_msgs = [msg for msg in msgs if msg[0] == 0x362]
+    assert not suppress_msgs
+
+  def test_ev9_active_angle_steering_still_suppresses_stock_lfa(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -1471,7 +1492,7 @@ class TestHyundaiFingerprint:
     controller.frame = 5
     can_bus = CanBus(CP)
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CAM_0x362", 0)], can_bus.ECAN)
-    cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+    cc = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
     lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
     lfa_block_msg["COUNTER"] = 0
@@ -1479,7 +1500,7 @@ class TestHyundaiFingerprint:
                          out=SimpleNamespace(steeringAngleDeg=0.0))
 
     msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
-                                        get_test_toggles(), lka_icon=1, lfa_icon=1)
+                                        get_test_toggles(), lka_icon=2, lfa_icon=2)
     suppress_msgs = [msg for msg in msgs if msg[0] == 0x362]
     assert len(suppress_msgs) == 1
 

opendbc_repo/opendbc/car/tests/test_chrysler_starpilot_helpers.py

@@ -0,0 +1,49 @@
+from types import SimpleNamespace
+
+from opendbc.car.chrysler.carcontroller import (
+  JEEP_BRAKE_HOLD_DEFAULT_DECEL,
+  clip_jeep_brake_hold_decel,
+  supports_jeep_brake_hold,
+)
+from opendbc.car.chrysler.values import CAR, ChryslerSafetyFlags, JEEPS
+
+
+def test_jeep_group_is_grand_cherokee_only():
+  assert JEEPS == {CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019}
+
+
+def test_jeep_brake_hold_support_requires_toggle_jeep_pcm_and_safety_flag():
+  safety = [SimpleNamespace(safetyParam=ChryslerSafetyFlags.JEEP_BRAKE_HOLD.value)]
+  no_safety = [SimpleNamespace(safetyParam=0)]
+
+  assert supports_jeep_brake_hold(SimpleNamespace(
+    carFingerprint=CAR.JEEP_GRAND_CHEROKEE,
+    pcmCruise=True,
+    safetyConfigs=safety,
+  ), True)
+  assert not supports_jeep_brake_hold(SimpleNamespace(
+    carFingerprint=CAR.JEEP_GRAND_CHEROKEE,
+    pcmCruise=True,
+    safetyConfigs=no_safety,
+  ), True)
+  assert not supports_jeep_brake_hold(SimpleNamespace(
+    carFingerprint=CAR.JEEP_GRAND_CHEROKEE,
+    pcmCruise=False,
+    safetyConfigs=safety,
+  ), True)
+  assert not supports_jeep_brake_hold(SimpleNamespace(
+    carFingerprint=CAR.CHRYSLER_PACIFICA_2018,
+    pcmCruise=True,
+    safetyConfigs=safety,
+  ), True)
+  assert not supports_jeep_brake_hold(SimpleNamespace(
+    carFingerprint=CAR.JEEP_GRAND_CHEROKEE,
+    pcmCruise=True,
+    safetyConfigs=safety,
+  ), False)
+
+
+def test_jeep_brake_hold_decel_is_bounded():
+  assert clip_jeep_brake_hold_decel(JEEP_BRAKE_HOLD_DEFAULT_DECEL) == JEEP_BRAKE_HOLD_DEFAULT_DECEL
+  assert clip_jeep_brake_hold_decel(-8.0) == -3.0
+  assert clip_jeep_brake_hold_decel(0.5) == -0.5

opendbc_repo/opendbc/safety/modes/chrysler.h

@@ -23,6 +23,7 @@ typedef enum {
 } ChryslerPlatform;
 static ChryslerPlatform chrysler_platform;
 static const ChryslerAddrs *chrysler_addrs;
+static bool chrysler_jeep_brake_hold;
 
 static uint32_t chrysler_get_checksum(const CANPacket_t *msg) {
   int checksum_byte = GET_LEN(msg) - 1U;
@@ -153,18 +154,27 @@ static bool chrysler_tx_hook(const CANPacket_t *msg) {
   if (msg->addr == chrysler_addrs->CRUISE_BUTTONS || msg->addr == chrysler_addrs->CRUISE_BUTTONS_ALT) {
     const bool is_cancel = msg->data[0] == 1U;
     const bool is_resume = msg->data[0] == 0x10U;
-    const bool allowed = is_cancel || (is_resume && controls_allowed);
+    const bool allow_resume_standstill = chrysler_jeep_brake_hold && is_resume && acc_main_on &&
+                                         !vehicle_moving && !gas_pressed && !brake_pressed;
+    const bool allowed = is_cancel || (is_resume && (controls_allowed || allow_resume_standstill));
     if (!allowed) {
       tx = false;
     }
   }
 
+  if (msg->addr == chrysler_addrs->DAS_3) {
+    if (!chrysler_jeep_brake_hold || !acc_main_on || vehicle_moving || gas_pressed || brake_pressed) {
+      tx = false;
+    }
+  }
+
   return tx;
 }
 
 static safety_config chrysler_init(uint16_t param) {
 
   const uint32_t CHRYSLER_PARAM_RAM_DT = 1U;  // set for Ram DT platform
+  const uint32_t CHRYSLER_PARAM_JEEP_BRAKE_HOLD = 4U;
 
   // CAN messages for Chrysler/Jeep platforms
   static const ChryslerAddrs CHRYSLER_ADDRS = {
@@ -217,6 +227,7 @@ static safety_config chrysler_init(uint16_t param) {
     {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, .check_relay = false},
     {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, .check_relay = true},
     {CHRYSLER_ADDRS.DAS_6, 0, 8, .check_relay = true},
+    {CHRYSLER_ADDRS.DAS_3, 0, 8, .check_relay = false},
 
     // RealFast variables
     {CHRYSLER_ADDRS.CRUISE_BUTTONS_ALT, 2, 3, .check_relay = false},
@@ -287,6 +298,7 @@ static safety_config chrysler_init(uint16_t param) {
     chrysler_addrs = &CHRYSLER_ADDRS;
     ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS);
   }
+  chrysler_jeep_brake_hold = GET_FLAG(param, CHRYSLER_PARAM_JEEP_BRAKE_HOLD) && (chrysler_platform == CHRYSLER_PACIFICA);
   return ret;
 }
 

opendbc_repo/opendbc/safety/tests/test_chrysler.py

@@ -9,7 +9,7 @@ from opendbc.safety.tests.common import CANPackerSafety
 
 
 class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
-  TX_MSGS = [[0x23B, 0], [0x292, 0], [0x2A6, 0]]
+  TX_MSGS = [[0x23B, 0], [0x292, 0], [0x2A6, 0], [0x1F4, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x292, 0x2A6)}
   FWD_BLACKLISTED_ADDRS = {2: [0x292, 0x2A6]}
 
@@ -37,6 +37,14 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
     values = {"ACC_ACTIVE": enable}
     return self.packer.make_can_msg_safety("DAS_3", self.DAS_BUS, values)
 
+  def _main_on_msg(self, available=True, active=False):
+    values = {"ACC_AVAILABLE": available, "ACC_ACTIVE": active}
+    return self.packer.make_can_msg_panda("DAS_3", self.DAS_BUS, values)
+
+  def _das_3_msg(self):
+    values = {"ACC_AVAILABLE": 1, "ACC_ACTIVE": 1, "ACC_DECEL_REQ": 1, "ACC_DECEL": -2.0}
+    return self.packer.make_can_msg_safety("DAS_3", self.DAS_BUS, values)
+
   def _speed_msg(self, speed):
     values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed}
     return self.packer.make_can_msg_safety("SPEED_1", 0, values)
@@ -71,6 +79,58 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
       self.assertFalse(self._tx(self._button_msg(cancel=True, resume=True)))
       self.assertFalse(self._tx(self._button_msg(cancel=False, resume=False)))
 
+  def test_jeep_brake_hold_resume_at_standstill_requires_safety_flag_and_main_on(self):
+    if self.__class__ is not TestChryslerSafety:
+      self.skipTest("Jeep brake hold applies to base Chrysler/Jeep safety only")
+
+    self._rx(self._speed_msg(0))
+    self._rx(self._main_on_msg(True))
+    self.safety.set_controls_allowed(False)
+
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+
+    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.JEEP_BRAKE_HOLD)
+    self.safety.init_tests()
+    self._rx(self._speed_msg(0))
+    self._rx(self._main_on_msg(True))
+    self.assertTrue(self._tx(self._button_msg(resume=True)))
+
+    self._rx(self._user_gas_msg(1))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+    self._rx(self._user_gas_msg(0))
+
+    self._rx(self._user_brake_msg(True))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+    self._rx(self._user_brake_msg(False))
+
+    self._rx(self._speed_msg(1))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+
+  def test_jeep_brake_hold_das_3_requires_safety_flag_main_on_and_standstill(self):
+    if self.__class__ is not TestChryslerSafety:
+      self.skipTest("Jeep brake hold applies to base Chrysler/Jeep safety only")
+
+    self.assertFalse(self._tx(self._das_3_msg()))
+
+    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.JEEP_BRAKE_HOLD)
+    self.safety.init_tests()
+    self._rx(self._speed_msg(0))
+    self.assertFalse(self._tx(self._das_3_msg()))
+
+    self._rx(self._main_on_msg(True))
+    self.assertTrue(self._tx(self._das_3_msg()))
+
+    self._rx(self._user_gas_msg(1))
+    self.assertFalse(self._tx(self._das_3_msg()))
+    self._rx(self._user_gas_msg(0))
+
+    self._rx(self._user_brake_msg(True))
+    self.assertFalse(self._tx(self._das_3_msg()))
+    self._rx(self._user_brake_msg(False))
+
+    self._rx(self._speed_msg(1))
+    self.assertFalse(self._tx(self._das_3_msg()))
+
   def _toggle_aol(self, toggle_on):
     # DAS_3, bit 20 is ACC_AVAILABLE
     values = {"ACC_AVAILABLE": 1 if toggle_on else 0}

selfdrive/selfdrived/selfdrived.py

@@ -589,8 +589,9 @@ class SelfdriveD:
         self.CP.openpilotLongitudinalControl and not self.CP.pcmCruise
       )
       effective_pcm_cruise = self.CP.pcmCruise or preap_software_cruise
+      jeep_brake_hold = self.CP.brand == "chrysler" and getattr(CS, "brakeHoldActive", False)
       cruise_mismatch = should_flag_cruise_mismatch(self.CP, CS.cruiseState.enabled, self.enabled,
-                                                    effective_pcm_cruise) and not pacifica_hybrid_aol
+                                                    effective_pcm_cruise) and not pacifica_hybrid_aol and not jeep_brake_hold
       self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)

selfdrive/ui/layouts/settings/starpilot/vehicle.py

@@ -162,6 +162,13 @@ class VehicleSettingsManagerView(PanelManagerView):
         "get_state": lambda: self._controller._params.get_bool("VoltSNG"),
         "set_state": lambda s: self._controller._on_toggle("VoltSNG"),
       })
+    if cs.isJeep:
+      toggles.append({
+        "title": tr("Jeep Brake Hold"),
+        "subtitle": tr("Hold after ACC times out at a stop and resume when traffic moves."),
+        "get_state": lambda: self._controller._params.get_bool("JeepBrakeHold"),
+        "set_state": lambda s: self._controller._on_toggle("JeepBrakeHold"),
+      })
 
     if cs.isSubaru:
       toggles.append({

selfdrive/ui/lib/starpilot_state.py

@@ -14,6 +14,7 @@ class StarPilotCarState:
     # ========== Car Type Detection ==========
     isGM: bool = False
     isHKG: bool = False
+    isJeep: bool = False
     isToyota: bool = False
     isSubaru: bool = False
     isVolt: bool = False
@@ -86,8 +87,10 @@ class StarPilotState:
             from openpilot.selfdrive.ui.lib.fingerprint_catalog import FINGERPRINT_MAKE_TO_VALUES_DIR
             fallback_make_lower = fallback_make.lower()
             brand = FINGERPRINT_MAKE_TO_VALUES_DIR.get(fallback_make_lower, fallback_make_lower)
+            fallback_model_str = fallback_model or ""
             self.car_state.isGM = brand == "gm"
             self.car_state.isHKG = brand == "hyundai"
+            self.car_state.isJeep = brand == "chrysler" and fallback_model_str.startswith("JEEP_")
             self.car_state.isSubaru = brand == "subaru"
             self.car_state.isToyota = brand == "toyota"
             self.car_state.isHKGCanFd = False
@@ -98,6 +101,7 @@ class StarPilotState:
 
         if fallback_model:
             self.params.put("CarModel", fallback_model)
+            self.car_state.isJeep = fallback_model.startswith("JEEP_")
 
         if not starpilot_toggles:
             self.car_state.hasOpenpilotLongitudinal = True
@@ -161,6 +165,7 @@ class StarPilotState:
             self.car_state.isGM = car_make == "gm"
             self.car_state.isHKG = car_make == "hyundai"
             self.car_state.isHKGCanFd = self.car_state.isHKG and safety_model == car.CarParams.SafetyModel.hyundaiCanfd
+            self.car_state.isJeep = car_make == "chrysler" and car_fingerprint.startswith("JEEP_")
             self.car_state.isSubaru = car_make == "subaru"
             self.car_state.isToyota = car_make == "toyota"
             self.car_state.isTSK = bool(self._safe_get(CP, "secOcRequired", False))

starpilot/common/safe_mode.py

@@ -185,6 +185,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "SubaruSNG",
   "SubaruSNGManualParkingBrake",
   "VoltSNG",
+  "JeepBrakeHold",
   "GMAutoHold",
   "VoltOnePedalMode",
   "GMPedalLongitudinal",

starpilot/common/starpilot_variables.py

@@ -15,6 +15,7 @@ import numpy as np
 from cereal import car, custom, log
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.chrysler.values import JEEPS as CHRYSLER_JEEPS
 from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GMFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.interfaces import TORQUE_SUBSTITUTE_PATH, CarInterfaceBase, GearShifter
@@ -1412,6 +1413,7 @@ class StarPilotVariables:
     toggle.volt_one_pedal_mode = self.get_value("VoltOnePedalMode", condition=gm_auto_hold_supported)
 
     toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS)
+    toggle.jeep_brake_hold = self.get_value("JeepBrakeHold", condition=toggle.car_model in CHRYSLER_JEEPS)
 
     process_starpilot_toggles.cache_clear()
     self.params_memory.remove("StarPilotTogglesUpdated")

starpilot/system/galaxy/galaxy.py

@@ -4,6 +4,7 @@ import json
 import platform
 import shutil
 import signal
+import socket
 import subprocess
 import tarfile
 import time
@@ -23,6 +24,8 @@ else:
 FRPC_VERSION = "0.67.0"
 FRPC_LOG = GALAXY_DIR / "frpc.log"
 AUTH_PORT = 8083
+GALAXY_WEB_HOST = "127.0.0.1"
+GALAXY_WEB_PORT = 8082
 BUNDLED_FRPC_DIR = Path(__file__).resolve().parent / "bin"
 
 process = None
@@ -92,6 +95,11 @@ def cleanup_frpc(*_):
     process = None
 
 
+def shutdown(*_):
+  cleanup_frpc()
+  raise SystemExit
+
+
 def get_arch_url():
   arch = platform.machine()
   system = platform.system()
@@ -135,6 +143,14 @@ def get_param_str(params, key):
   return str(value or "")
 
 
+def local_galaxy_ready():
+  try:
+    with socket.create_connection((GALAXY_WEB_HOST, GALAXY_WEB_PORT), timeout=1.0):
+      return True
+  except OSError:
+    return False
+
+
 def setup_frpc():
   GALAXY_DIR.mkdir(parents=True, exist_ok=True)
   frpc_bin = GALAXY_DIR / "frpc"
@@ -182,8 +198,8 @@ def main():
   global process
   params = Params()
 
-  signal.signal(signal.SIGTERM, cleanup_frpc)
-  signal.signal(signal.SIGINT, cleanup_frpc)
+  signal.signal(signal.SIGTERM, shutdown)
+  signal.signal(signal.SIGINT, shutdown)
 
   dongle_id = get_param_str(params, "DongleId")
   while not dongle_id:
@@ -205,11 +221,21 @@ def main():
     is_paired = galaxy_password_hash and len(galaxy_password_hash) == 64 and slug
 
     if is_paired:
+      if process is not None and process.poll() is None and not local_galaxy_ready():
+        print(f"Galaxy: Web app is not ready on {GALAXY_WEB_HOST}:{GALAXY_WEB_PORT}. Stopping frpc tunnel until it recovers...")
+        cleanup_frpc()
+        last_slug = None
+
       if process is None or process.poll() is not None or slug != last_slug:
         cleanup_frpc()
         if process is not None and slug == last_slug:
           print(f"Galaxy: frpc exited with code {process.returncode}. Restarting...")
 
+        if not local_galaxy_ready():
+          print(f"Galaxy: Waiting for web app on {GALAXY_WEB_HOST}:{GALAXY_WEB_PORT} before starting frpc tunnel...")
+          time.sleep(3)
+          continue
+
         print("Galaxy: Password set. Preparing frpc tunnel...")
         if not setup_frpc():
           print("Galaxy: FRPC setup failed. Retrying later...")

starpilot/ui/qt/offroad/starpilot_settings.cc

@@ -344,6 +344,7 @@ void StarPilotSettingsWindow::updateVariables() {
     isGM = carMake == "gm";
     isHKG = carMake == "hyundai";
     isHKGCanFd = isHKG && hasModeStarButtons;
+    isJeep = fallbackFingerprint.rfind("JEEP_", 0) == 0;
     isSubaru = carMake == "subaru";
     isToyota = carMake == "toyota";
     isVolt = fallbackFingerprint.rfind("CHEVROLET_VOLT", 0) == 0;
@@ -380,6 +381,7 @@ void StarPilotSettingsWindow::updateVariables() {
     isGM = carMake == "gm";
     isHKG = carMake == "hyundai";
     isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
+    isJeep = carMake == "chrysler" && carFingerprint.rfind("JEEP_", 0) == 0;
     isSubaru = carMake == "subaru";
     isTorqueCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE;
     isToyota = carMake == "toyota";

starpilot/ui/qt/offroad/starpilot_settings.h

@@ -39,6 +39,7 @@ public:
   bool isGM = true;
   bool isHKG = true;
   bool isHKGCanFd = true;
+  bool isJeep = false;
   bool isSubaru = false;
   bool isTorqueCar = false;
   bool isToyota = true;

starpilot/ui/qt/offroad/vehicle_settings.cc

@@ -154,18 +154,21 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
   });
   settingsList->addItem(disableOpenpilotLong);
 
+  StarPilotListWidget *chryslerList = new StarPilotListWidget(this);
   StarPilotListWidget *gmList = new StarPilotListWidget(this);
   StarPilotListWidget *hkgList = new StarPilotListWidget(this);
   StarPilotListWidget *subaruList = new StarPilotListWidget(this);
   StarPilotListWidget *toyotaList = new StarPilotListWidget(this);
   StarPilotListWidget *vehicleInfoList = new StarPilotListWidget(this);
 
+  ScrollView *chryslerPanel = new ScrollView(chryslerList, this);
   ScrollView *gmPanel = new ScrollView(gmList, this);
   ScrollView *hkgPanel = new ScrollView(hkgList, this);
   ScrollView *subaruPanel = new ScrollView(subaruList, this);
   ScrollView *toyotaPanel = new ScrollView(toyotaList, this);
   ScrollView *vehicleInfoPanel = new ScrollView(vehicleInfoList, this);
 
+  vehiclesLayout->addWidget(chryslerPanel);
   vehiclesLayout->addWidget(gmPanel);
   vehiclesLayout->addWidget(hkgPanel);
   vehiclesLayout->addWidget(subaruPanel);
@@ -173,6 +176,9 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
   vehiclesLayout->addWidget(vehicleInfoPanel);
 
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
+    {"ChryslerToggles", tr("Chrysler/Jeep Settings"), tr("<b>StarPilot features for Chrysler and Jeep vehicles.</b>"), ""},
+    {"JeepBrakeHold", tr("Brake Hold"), tr("<b>Hold the brakes after Jeep ACC times out at a stop</b>, then send resume when traffic moves again."), ""},
+
     {"GMToggles", tr("General Motors Settings"), tr("<b>StarPilot features for General Motors vehicles.</b>"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal For Longitudinal"), tr("<b>Use the pedal interceptor for full longitudinal control</b> on supported GM vehicles."), ""},
     {"GMDashSpoofOffsets", tr("Apply Offsets To Dash Spoof"), tr("<b>On GM pedal-long cars, add the configured set-speed offset</b> to the spoofed dash set speed so it matches the on-screen set speed."), ""},
@@ -209,7 +215,15 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
   for (const auto &[param, title, desc, icon] : vehicleToggles) {
     AbstractControl *vehicleToggle;
 
-    if (param == "GMToggles") {
+    if (param == "ChryslerToggles") {
+      ButtonControl *chryslerButton = new ButtonControl(title, tr("MANAGE"), desc);
+      QObject::connect(chryslerButton, &ButtonControl::clicked, [vehiclesLayout, chryslerPanel, this]() {
+        openDescriptions(forceOpenDescriptions, toggles);
+        vehiclesLayout->setCurrentWidget(chryslerPanel);
+      });
+      vehicleToggle = chryslerButton;
+
+    } else if (param == "GMToggles") {
       ButtonControl *gmButton = new ButtonControl(title, tr("MANAGE"), desc);
       QObject::connect(gmButton, &ButtonControl::clicked, [vehiclesLayout, gmPanel, this]() {
         openDescriptions(forceOpenDescriptions, toggles);
@@ -275,7 +289,9 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
 
     toggles[param] = vehicleToggle;
 
-    if (gmKeys.contains(param)) {
+    if (chryslerKeys.contains(param)) {
+      chryslerList->addItem(vehicleToggle);
+    } else if (gmKeys.contains(param)) {
       gmList->addItem(vehicleToggle);
     } else if (hkgKeys.contains(param)) {
       hkgList->addItem(vehicleToggle);
@@ -407,7 +423,9 @@ void StarPilotVehiclesPanel::updateToggles() {
     bool setVisible = showAllToggles || parent->tuningLevel >= parent->starpilotToggleLevels[key].toDouble();
 
     if (!showAllToggles) {
-      if (gmKeys.contains(key)) {
+      if (chryslerKeys.contains(key)) {
+        setVisible &= parent->isJeep;
+      } else if (gmKeys.contains(key)) {
         setVisible &= parent->isGM;
       } else if (hkgKeys.contains(key)) {
         setVisible &= parent->isHKGCanFd && parent->hasOpenpilotLongitudinal;
@@ -455,7 +473,9 @@ void StarPilotVehiclesPanel::updateToggles() {
     toggle->setVisible(setVisible);
 
     if (setVisible) {
-      if (gmKeys.contains(key)) {
+      if (chryslerKeys.contains(key)) {
+        toggles["ChryslerToggles"]->setVisible(true);
+      } else if (gmKeys.contains(key)) {
         toggles["GMToggles"]->setVisible(true);
       } else if (hkgKeys.contains(key)) {
         toggles["HKGToggles"]->setVisible(true);

starpilot/ui/qt/offroad/vehicle_settings.h

@@ -23,6 +23,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
+  QSet<QString> chryslerKeys = {"JeepBrakeHold"};
   QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "IgnoreIgnitionLine", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
   QSet<QString> hkgKeys = {"HKGRemoteStartBootsComma"};
   QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};