FrogPilot 0.9.7

selfdrive/car/__init__.py

@@ -1,4 +1,5 @@
 # functions common among cars
+import logging
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
@@ -11,6 +12,10 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+# set up logging
+carlog = logging.getLogger('carlog')
+carlog.setLevel(logging.INFO)
+carlog.propagate = False
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -165,6 +170,10 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
 def crc8_pedal(data):
   crc = 0xFF    # standard init value
   poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1

selfdrive/car/body/carcontroller.py

@@ -35,13 +35,12 @@ class CarController(CarControllerBase):
       torque -= deadband
     return torque
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
 
     torque_l = 0
     torque_r = 0
 
-    llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
-    if CC.enabled and llk_valid:
+    if CC.enabled:
       # Read these from the joystick
       # TODO: this isn't acceleration, okay?
       speed_desired = CC.actuators.accel / 5.

selfdrive/car/body/carstate.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.body.values import DBC
@@ -6,8 +6,9 @@ from openpilot.selfdrive.car.body.values import DBC
 STARTUP_TICKS = 100
 
 class CarState(CarStateBase):
-  def update(self, cp):
+  def update(self, cp, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
     ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
@@ -28,7 +29,7 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = True
     ret.cruiseState.available = True
 
-    return ret
+    return ret, fp_ret
 
   @staticmethod
   def get_can_parser(CP):

selfdrive/car/body/interface.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@@ -25,8 +25,8 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, frogpilot_toggles)
 
     # wait for everything to init first
     if self.frame > int(5. / DT_CTRL):
@@ -36,4 +36,4 @@ class CarInterface(CarInterfaceBase):
       ret.events[0].enable = True
     self.frame += 1
 
-    return ret
+    return ret, fp_ret

selfdrive/car/car_helpers.py

@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -20,11 +19,7 @@ EventName = car.CarEvent.EventName
 
 
 def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
+  event = EventName.customStartupAlert
 
   if not car_recognized:
     if fw_seen:
@@ -190,15 +185,27 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
+def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
+  car_model = params.get("CarModel", encoding='utf-8')
+  force_fingerprint = params.get_bool("ForceFingerprint")
+
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
-  if candidate is None:
-    cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
+  if candidate is None or force_fingerprint:
+    if car_model is not None:
+      candidate = car_model
+    else:
+      cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
+      candidate = "MOCK"
+  else:
+    params.put_nonblocking("CarMake", candidate.split('_')[0].title())
+    params.put_nonblocking("CarModel", candidate)
+
+  if frogpilot_toggles.block_user:
     candidate = "MOCK"
 
   CarInterface, _, _ = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_openpilot_long, experimental_long_allowed, params, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/card.py

@@ -4,18 +4,21 @@ import time
 
 import cereal.messaging as messaging
 
-from cereal import car
+from cereal import car, custom
 
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, update_frogpilot_toggles
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = car.CarEvent.EventName
@@ -26,8 +29,8 @@ class Car:
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'frogpilotPlan'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'frogpilotCarState'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -45,8 +48,9 @@ class Car:
       get_one_can(self.can_sock)
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      disable_openpilot_long = self.params.get_bool("DisableOpenpilotLongitudinal")
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, self.params, num_pandas, get_frogpilot_toggles())
     else:
       self.CI, self.CP = CI, CI.CP
 
@@ -66,28 +70,52 @@ class Car:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      secoc_key = self.params.get("SecOCKey", encoding='utf8')
+      if secoc_key is not None:
+        saved_secoc_key = bytes.fromhex(secoc_key.strip())
+        if len(saved_secoc_key) == 16:
+          self.CP.secOcKeyAvailable = True
+          self.CI.CS.secoc_key = saved_secoc_key
+          if controller_available:
+            self.CI.CC.secoc_key = saved_secoc_key
+        else:
+          cloudlog.warning("Saved SecOC key is invalid")
+
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
+    self.events = Events()
+
+    # card is driven by can recv, expected at 100Hz
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
+
+    # FrogPilot variables
+    self.frogpilot_toggles = get_frogpilot_toggles()
+
+    if self.frogpilot_toggles.acceleration_profile == 3:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+
+    if self.frogpilot_toggles.always_on_lateral:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.events = Events()
-
-    # card is driven by can recv, expected at 100Hz
-    self.rk = Ratekeeper(100, print_delay_threshold=None)
+    update_frogpilot_toggles()
 
   def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS, FPCS = self.CI.update(self.CC_prev, can_strs, self.frogpilot_toggles)
 
     self.sm.update(0)
 
@@ -100,7 +128,7 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    return CS
+    return CS, FPCS
 
   def update_events(self, CS: car.CarState) -> car.CarState:
     self.events.clear()
@@ -115,7 +143,7 @@ class Car:
 
     CS.events = self.events.to_msg()
 
-  def state_publish(self, CS: car.CarState):
+  def state_publish(self, CS: car.CarState, FPCS: custom.FrogPilotCarState):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -139,6 +167,12 @@ class Car:
     cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
     self.pm.send('carState', cs_send)
 
+    # frogpilotCarState
+    fpcs_send = messaging.new_message('frogpilotCarState')
+    fpcs_send.valid = CS.canValid
+    fpcs_send.frogpilotCarState = FPCS
+    self.pm.send('frogpilotCarState', fpcs_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
@@ -152,17 +186,17 @@ class Car:
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos, self.frogpilot_toggles)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
 
   def step(self):
-    CS = self.state_update()
+    CS, FPCS = self.state_update()
 
     self.update_events(CS)
 
-    self.state_publish(CS)
+    self.state_publish(CS, FPCS)
 
     initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
@@ -177,6 +211,9 @@ class Car:
       self.step()
       self.rk.monitor_time()
 
+      # Update FrogPilot parameters
+      if self.sm['frogpilotPlan'].togglesUpdated:
+        self.frogpilot_toggles = get_frogpilot_toggles()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)

selfdrive/car/chrysler/carcontroller.py

@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
@@ -20,7 +20,7 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     can_sends = []
 
     lkas_active = CC.latActive and self.lkas_control_bit_prev
@@ -32,18 +32,18 @@ class CarController(CarControllerBase):
       # ACC cancellation
       if CC.cruiseControl.cancel:
         self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, self.CP, CS.button_counter + 1, das_bus, cancel=True))
 
       # ACC resume from standstill
       elif CC.cruiseControl.resume:
         self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, self.CP, CS.button_counter + 1, das_bus, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
         can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
-                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
+                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam, CC.latActive))
         self.hud_count += 1
 
     # steering
@@ -51,7 +51,12 @@ class CarController(CarControllerBase):
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
+      if self.CP.carFingerprint in RAM_DT:
+        if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+          lkas_control_bit = True
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2):
+          lkas_control_bit = False
+      elif CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
       elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):

selfdrive/car/chrysler/carstate.py

@@ -1,9 +1,9 @@
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import ChryslerFlags, DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
@@ -15,6 +15,7 @@ class CarState(CarStateBase):
     self.auto_high_beam = 0
     self.button_counter = 0
     self.lkas_car_model = -1
+    self.button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
 
     if CP.carFingerprint in RAM_CARS:
       self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
@@ -24,12 +25,13 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_toggles):
 
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     self.prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+    self.distance_button = cp.vl[self.button_message]["ACC_Distance_Dec"]
 
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -99,9 +101,18 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
-    return ret
+    # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"])
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in RAM_CARS:
+      self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"]
+    else:
+      self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1
+
+    return ret, fp_ret
 
   @staticmethod
   def get_cruise_messages():
@@ -113,6 +124,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
+    button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
     messages = [
       # sig_address, frequency
       ("ESP_1", 50),
@@ -120,7 +132,7 @@ class CarState(CarStateBase):
       ("ESP_6", 50),
       ("STEERING", 100),
       ("ECM_5", 50),
-      ("CRUISE_BUTTONS", 50),
+      (button_message, 50),
       ("STEERING_LEVERS", 10),
       ("ORC_1", 2),
       ("BCM_1", 1),
@@ -134,11 +146,14 @@ class CarState(CarStateBase):
         ("ESP_8", 50),
         ("EPS_3", 50),
         ("Transmission_Status", 50),
+        ("Center_Stack_1", 1),
+        ("Center_Stack_2", 1),
       ]
     else:
       messages += [
         ("GEAR", 50),
         ("SPEED_1", 100),
+        ("TRACTION_BUTTON", 1),
       ]
       messages += CarState.get_cruise_messages()
 

selfdrive/car/chrysler/chryslercan.py

@@ -1,10 +1,10 @@
 from cereal import car
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, ChryslerFlags
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, lat_active):
   # LKAS_HUD - Controls what lane-keeping icon is displayed
 
   # == Color ==
@@ -27,7 +27,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
   # 7 Normal
   # 6 lane departure place hands on wheel
 
-  color = 2 if lkas_active else 1
+  color = 2 if lkas_active else 1 if lat_active else 0
   lines = 3 if lkas_active else 0
   alerts = 7 if lkas_active else 0
 
@@ -48,6 +48,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
 
   if CP.carFingerprint in RAM_CARS:
     values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
+    values['LKAS_DISABLED'] = 0 if lat_active else 1
 
   return packer.make_can_msg("DAS_6", 0, values)
 
@@ -62,10 +63,11 @@ def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
+def create_cruise_buttons(packer, CP, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
     "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+  button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
+  return packer.make_can_msg(button_message, bus, values)

selfdrive/car/chrysler/fingerprints.py

@@ -535,6 +535,7 @@ FW_VERSIONS = {
       b'05149848AC ',
       b'05190341AD',
       b'68378695AJ ',
+      b'68378696AI ',
       b'68378696AJ ',
       b'68378701AI ',
       b'68378702AI ',
@@ -591,6 +592,7 @@ FW_VERSIONS = {
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360085AF',
       b'68360086AH',
       b'68360086AK',
       b'68384328AD',
@@ -620,14 +622,21 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
       b'68437735AC',
+      b'68437746AD',
+      b'68492682AD',
+      b'68525438AB',
       b'68492693AD',
       b'68525485AB',
       b'68525487AB',
       b'68525498AB',
       b'68528791AF',
+      b'68620919AB',
+      b'68620921AC',
+      b'68620923AB',
       b'68628474AB',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68346749AB',
       b'68399794AC',
       b'68428503AA',
       b'68428505AA',
@@ -668,9 +677,12 @@ FW_VERSIONS = {
       b'52401032AE',
       b'52421132AF',
       b'52421332AF',
+      b'52421332AG',
       b'68527616AD ',
       b'M2370131MB',
       b'M2421132MB',
+      b'52421232AF',
+      b'52421492AA',
     ],
   },
   CAR.DODGE_DURANGO: {

selfdrive/car/chrysler/interface.py

@@ -1,18 +1,18 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "chrysler"
-    ret.dashcamOnly = candidate in RAM_HD
 
     # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
     ret.radarUnavailable = True # DBC[candidate]['radar'] is None
@@ -55,14 +55,24 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.RAM_1500_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
+      ret.minSteerSpeed = 0.5
+      ret.minEnableSpeed = 14.5
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD_5TH_GEN:
       ret.steerActuatorDelay = 0.2
+      ret.wheelbase = 3.785
+      ret.steerRatio = 15.61
+      ret.mass = 3405.
+      ret.minSteerSpeed = 16
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
+      # Some RAM HD use Chrysler button address
+      if 570 not in fingerprint[0]:
+        ret.flags |= ChryslerFlags.RAM_HD_ALT_BUTTONS.value
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
@@ -76,22 +86,31 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = False
+    if self.CP.carFingerprint in RAM_DT:
+      if self.CS.out.vEgo >= self.CP.minEnableSpeed:
+        self.low_speed_alert = False
+      if (self.CP.minEnableSpeed >= 14.5) and (self.CS.out.gearShifter != car.CarState.GearShifter.drive):
+        self.low_speed_alert = True
+    else:
+      if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
+        self.low_speed_alert = True
+      elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = False
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/chrysler/values.py

@@ -13,6 +13,7 @@ Ecu = car.CarParams.Ecu
 class ChryslerFlags(IntFlag):
   # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
+  RAM_HD_ALT_BUTTONS = 2
 
 @dataclass
 class ChryslerCarDocs(CarDocs):
@@ -100,7 +101,7 @@ class CarControllerParams:
     elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
+      self.STEER_MAX = 350  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3

selfdrive/car/ford/carcontroller.py

@@ -7,6 +7,8 @@ from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel
+
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -37,7 +39,7 @@ class CarController(CarControllerBase):
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     can_sends = []
 
     actuators = CC.actuators
@@ -65,6 +67,13 @@ class CarController(CarControllerBase):
       if CC.latActive:
         # apply rate limits, curvature error limit, and clip to signal range
         current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
+        # PFEIFER - FSH {{
+        # Ignore limits while overriding, this prevents pull when releasing the wheel. This will cause messages to be
+        # blocked by panda safety, usually while the driver is overriding and limited to at most 1 message while the
+        # driver is not overriding.
+        if CS.out.steeringPressed:
+          self.apply_curvature_last = actuators.curvature
+        # }} PFEIFER - FSH
         apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
       else:
         apply_curvature = 0.
@@ -87,7 +96,10 @@ class CarController(CarControllerBase):
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Both gas and accel are in m/s^2, accel is used solely for braking
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      if frogpilot_toggles.sport_plus:
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
+      else:
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX))
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS

selfdrive/car/ford/carstate.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.common.conversions import Conversions as CV
@@ -22,8 +22,9 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
@@ -107,7 +108,11 @@ class CarState(CarStateBase):
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
-    return ret
+    # FrogPilot CarState functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = ret.genericToggle
+
+    return ret, fp_ret
 
   @staticmethod
   def get_can_parser(CP):

selfdrive/car/ford/interface.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
@@ -7,15 +7,16 @@ from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
+    ret.dashcamOnly = False
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -67,10 +68,13 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
@@ -78,4 +82,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/gm/carcontroller.py

@@ -1,13 +1,16 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.common.params_pyx import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState
 from openpilot.selfdrive.car.interfaces import CarControllerBase
+from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -20,6 +23,10 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
 
+# Constants for pitch compensation
+PITCH_DEADZONE = 0.01  # [radians] 0.01 ≈ 1% grade
+BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
+BRAKE_PITCH_FACTOR_V = [0., 1.]  # [unitless in [0,1]]; don't touch
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
@@ -45,6 +52,10 @@ class CarController(CarControllerBase):
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
+    # FrogPilot variables
+    self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
+    self.accel_g = 0.0
+
   @staticmethod
   def calc_pedal_command(accel: float, long_active: bool) -> float:
     if not long_active: return 0.
@@ -60,8 +71,9 @@ class CarController(CarControllerBase):
     return pedal_gas
 
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
+    accel = brake_accel = actuators.accel
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
     hud_v_cruise = hud_control.setSpeed
@@ -108,6 +120,15 @@ class CarController(CarControllerBase):
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
+
+        # Pitch compensated acceleration;
+        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
+        if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
+          self.pitch.update(CC.orientationNED[1])
+          self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
+          accel += self.accel_g
+          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
+
         at_full_stop = CC.longActive and CS.out.standstill
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
         interceptor_gas_cmd = 0
@@ -122,11 +143,17 @@ class CarController(CarControllerBase):
           # Normal operation
           if self.CP.carFingerprint in EV_CAR:
             self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
-            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           else:
-            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
           if stopping:
@@ -161,8 +188,13 @@ class CarController(CarControllerBase):
             resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
             at_full_stop = at_full_stop and not resume
 
+          if CC.cruiseControl.resume and CS.pcm_acc_status == AccState.STANDSTILL and frogpilot_toggles.volt_sng:
+            acc_engaged = False
+          else:
+            acc_engaged = CC.enabled
+
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
+          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
                                                              idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
@@ -170,6 +202,9 @@ class CarController(CarControllerBase):
           send_fcw = hud_alert == VisualAlert.fcw
           can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
                                                               hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
+      else:
+        # to keep accel steady for logs when not sending gas
+        accel += self.accel_g
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
@@ -219,6 +254,7 @@ class CarController(CarControllerBase):
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
     new_actuators = actuators.as_builder()
+    new_actuators.accel = accel
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas

selfdrive/car/gm/carstate.py

@@ -1,5 +1,5 @@
 import copy
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
@@ -33,8 +33,9 @@ class CarState(CarStateBase):
     self.single_pedal_mode = False
     self.pedal_steady = 0.
 
-  def update(self, pt_cp, cam_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
@@ -91,11 +92,11 @@ class CarState(CarStateBase):
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
       ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
-      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
+      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
+      threshold = 10 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -168,7 +169,20 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
-    return ret
+    # FrogPilot CarState functions
+    fp_ret.hasMenu = not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in SDGM_CAR:
+      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    else:
+      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+
+    self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+
+    fp_ret.sportGear = pt_cp.vl["SportMode"]["SportMode"] == 1
+
+    return ret, fp_ret
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -207,6 +221,7 @@ class CarState(CarStateBase):
       ("EBCMFrictionBrakeStatus", 20),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
+      ("SportMode", 0),
     ]
 
     if CP.carFingerprint in SDGM_CAR:

selfdrive/car/gm/fingerprints.py

@@ -195,6 +195,14 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
   }],
+  CAR.CHEVROLET_MALIBU_CC: [
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
+  }],
+  CAR.CHEVROLET_TRAX: [
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

selfdrive/car/gm/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import os
-from cereal import car
+from cereal import car, custom
 from math import fabs, exp
 from panda import Panda
 
@@ -12,7 +12,10 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@@ -93,7 +96,9 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
+    use_new_api = params.get_bool("NewLongAPIGM")
+
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
@@ -107,7 +112,14 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35.]
+    if use_new_api:
+      ret.longitudinalTuning.kiBP = [5., 35.]
+    else:
+      ret.longitudinalTuning.deadzoneBP = [0.]
+      ret.longitudinalTuning.deadzoneV = [0.15]
+
+      ret.longitudinalTuning.kpBP = [5., 35.]
+      ret.longitudinalTuning.kiBP = [0.]
 
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
@@ -119,7 +131,14 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [2.0, 1.5]
+      if use_new_api:
+        ret.longitudinalTuning.kiV = [2.0, 1.5]
+        ret.vEgoStopping = 0.1
+        ret.vEgoStarting = 0.1
+      else:
+        ret.longitudinalTuning.kpV = [2.0, 1.5]
+        ret.longitudinalTuning.kiV = [0.72]
+
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
@@ -130,6 +149,8 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
     elif candidate in SDGM_CAR:
+      if use_new_api:
+        ret.longitudinalTuning.kiV = [0., 0.]  # TODO: tuning
       ret.experimentalLongitudinalAvailable = False
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.pcmCruise = True
@@ -139,7 +160,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
 
     else:  # ASCM, OBD-II harness
-      ret.openpilotLongitudinalControl = True
+      ret.openpilotLongitudinalControl = not disable_openpilot_long
       ret.networkLocation = NetworkLocation.gateway
       ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
@@ -148,7 +169,11 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [2.4, 1.5]
+      if use_new_api:
+        ret.longitudinalTuning.kiV = [2.4, 1.5]
+      else:
+        ret.longitudinalTuning.kpV = [2.4, 1.5]
+        ret.longitudinalTuning.kiV = [0.36]
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -248,12 +273,19 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CADILLAC_CT6_CC:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.CHEVROLET_MALIBU_CC:
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.CHEVROLET_TRAX:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     if ret.enableGasInterceptor:
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
-      ret.openpilotLongitudinalControl = True
+      ret.openpilotLongitudinalControl = not disable_openpilot_long
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
@@ -261,8 +293,14 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= GMFlags.PEDAL_LONG.value
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+        if use_new_api:
+          ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
+          ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+        else:
+          ret.longitudinalTuning.kpBP = [5., 35.]
+          ret.longitudinalTuning.kpV = [0.35, 0.5]
+          ret.longitudinalTuning.kiBP = [0., 35.0]
+          ret.longitudinalTuning.kiV = [0.1, 0.1]
         ret.longitudinalTuning.kf = 0.15
         ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
@@ -277,17 +315,24 @@ class CarInterface(CarInterfaceBase):
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
-      ret.openpilotLongitudinalControl = True
+      ret.openpilotLongitudinalControl = not disable_openpilot_long
       ret.pcmCruise = False
 
+      if use_new_api:
+        ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
+        ret.longitudinalTuning.kiV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
+      else:
+        ret.longitudinalTuning.deadzoneBP = [0.]
+        ret.longitudinalTuning.deadzoneV = [0.56]  # == 2 km/h/s, 1.25 mph/s
+        ret.longitudinalActuatorDelay = 1.  # TODO: measure this
+
+        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
+        ret.longitudinalTuning.kiBP = [0.]
+        ret.longitudinalTuning.kiV = [0.1]
+
       ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
 
-      ret.longitudinalActuatorDelayLowerBound = 1.  # TODO: measure this
-      ret.longitudinalActuatorDelayUpperBound = 2.
-
-      ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
-      ret.longitudinalTuning.kiV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
-
     if candidate in CC_ONLY_CAR:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
 
@@ -302,8 +347,8 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback, frogpilot_toggles)
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
@@ -311,7 +356,9 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
                               unpressed_btn=CruiseButtons.UNPRESS),
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
+                              {1: ButtonType.gapAdjustCruise}),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled,
+                              {1: FrogPilotButtonType.lkas}),
       ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
@@ -328,10 +375,21 @@ class CarInterface(CarInterfaceBase):
     if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
                                        (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
       events.add(EventName.belowEngageSpeed)
-    if ret.cruiseState.standstill and not self.CP.autoResumeSng:
+    if ret.cruiseState.standstill and not (self.CP.autoResumeSng or self.disable_resumeRequired):
       events.add(EventName.resumeRequired)
-    if ret.vEgo < self.CP.minSteerSpeed:
+      self.resumeRequired_shown = True
+
+    # Disable the "resumeRequired" event after it's been shown once to not annoy the driver
+    if self.resumeRequired_shown and not ret.cruiseState.standstill:
+      self.disable_resumeRequired = True
+
+    if ret.vEgo < self.CP.minSteerSpeed and not self.disable_belowSteerSpeed:
       events.add(EventName.belowSteerSpeed)
+      self.belowSteerSpeed_shown = True
+
+    # Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver
+    if self.belowSteerSpeed_shown and ret.vEgo >= self.CP.minSteerSpeed:
+      self.disable_belowSteerSpeed = True
 
     if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
       events.add(EventName.speedTooLow)
@@ -344,4 +402,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/gm/values.py

@@ -33,39 +33,45 @@ class CarControllerParams:
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
   ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MAX_PLUS = 4.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_GAS = 7496
+      self.MAX_GAS_PLUS = 8848
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
-      max_regen_acceleration = 0.
+      self.max_regen_acceleration = 0.
 
     elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
-      max_regen_acceleration = 0.
+      self.MAX_GAS = 7496
+      self.MAX_GAS_PLUS = 7496
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
+      self.max_regen_acceleration = 0.
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
-      max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
+      self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
 
-    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+    self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
   # determined by letting Volt regen to a stop in L gear from 89mph,
@@ -76,10 +82,11 @@ class CarControllerParams:
 
   def update_ev_gas_brake_threshold(self, v_ego):
     gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
+    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
+    self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
     self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
 
-
 @dataclass
 class GMCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
@@ -225,6 +232,14 @@ class CAR(Platforms):
     [GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
     CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
   )
+  CHEVROLET_MALIBU_CC = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu 2023 No ACC")],
+    CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
+  )
+  CHEVROLET_TRAX = GMPlatformConfig(
+    [GMCarDocs("Chevrolet TRAX 2024")],
+    CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
+  )
 
 
 class CruiseButtons:
@@ -306,15 +321,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
-CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC}
+CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
-CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC})
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
+CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
 # CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
 STEER_THRESHOLD = 1.0

selfdrive/car/honda/carcontroller.py

@@ -4,11 +4,14 @@ from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel
+
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -125,7 +128,7 @@ class CarController(CarControllerBase):
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
     conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
@@ -182,7 +185,7 @@ class CarController(CarControllerBase):
                     0.5]
     # The Honda ODYSSEY seems to have different PCM_ACCEL
     # msgs, is it other cars too?
-    if not CC.longActive:
+    if self.CP.enableGasInterceptor or not CC.longActive:
       pcm_speed = 0.0
       pcm_accel = int(0.0)
     elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
@@ -215,7 +218,10 @@ class CarController(CarControllerBase):
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
+          if frogpilot_toggles.sport_plus:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
+          else:
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.params.BOSCH_ACCEL_MAX))
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping
@@ -234,15 +240,29 @@ class CarController(CarControllerBase):
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
 
+          if self.CP.enableGasInterceptor:
+            # way too aggressive at low speed without this
+            gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
+            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
+            # This prevents unexpected pedal range rescaling
+            # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
+            # when you do enable.
+            if CC.longActive:
+              self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
+            else:
+              self.gas = 0.0
+            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
+
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
-        self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
+        if not self.CP.enableGasInterceptor:
+          self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
     new_actuators = actuators.as_builder()
     new_actuators.speed = self.speed

selfdrive/car/honda/carstate.py

@@ -1,6 +1,6 @@
 from collections import defaultdict
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
@@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
   if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
     messages.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
@@ -72,8 +72,14 @@ def get_can_messages(CP, gearbox_msg):
   else:
     messages.append(("DOORS_STATUS", 3))
 
+  # add gas interceptor reading if we are using it
+  if CP.enableGasInterceptor:
+    messages.append(("GAS_SENSOR", 50))
+
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     messages.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.carFingerprint == CAR.HONDA_CLARITY:
+    messages.append(("BRAKE_ERROR", 100)),
   elif CP.openpilotLongitudinalControl:
     messages.append(("STANDSTILL", 50))
 
@@ -104,8 +110,9 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     # car params
     v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
@@ -143,6 +150,8 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
+    elif self.CP.carFingerprint == CAR.HONDA_CLARITY:
+      ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"])
     else:
       # On some cars, these two signals are always 1, this flag is masking a bug in release
       # FIXME: find and set the ACC faulted signals on more platforms
@@ -181,14 +190,19 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
-    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-    ret.gasPressed = ret.gas > 1e-5
+    if self.CP.enableGasInterceptor:
+      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
+      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = ret.gas > 492
+    else:
+      ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+      ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
@@ -241,7 +255,8 @@ class CarState(CarStateBase):
       if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
         ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
+      aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.HONDA_CLARITY else "COMPUTER_BRAKE"
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5)
 
     self.acc_hud = False
     self.lkas_hud = False
@@ -258,7 +273,20 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
-    return ret
+    # FrogPilot CarState functions
+    brake_light_cars = (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH,
+                        CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E)
+
+    if self.CP.carFingerprint in brake_light_cars or (self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS):
+      fp_ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else bool(ret.brake > 0.4)
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_setting == 3
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = self.cruise_setting == 1
+
+    return ret, fp_ret
 
   def get_can_parser(self, CP):
     messages = get_can_messages(CP, self.gearbox_msg)

selfdrive/car/honda/fingerprints.py

@@ -222,6 +222,16 @@ FW_VERSIONS = {
       b'39990-TGH-J530\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
+      # Modded EPS Bosch Civic fw list
+      b'39990-TBA,C020\x00\x00',
+      b'39990-TBA,C120\x00\x00',
+      b'39990-TEA,T820\x00\x00',
+      b'39990-TEZ,T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+      b'39990-TGG,J510\x00\x00',
+      b'39990-TGL,E130\x00\x00',
+      b'39990-TGN,E120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',
@@ -892,4 +902,29 @@ FW_VERSIONS = {
       b'28101-65J-N010\x00\x00',
     ],
   },
+  CAR.HONDA_CLARITY: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TRW-A910\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TRW-A010\x00\x00',
+      b'57114-TRW-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TRW-A020\x00\x00',
+      b'39990-TRW,A020\x00\x00',  # modified firmware
+      b'39990,TRW,A020\x00\x00',  # extra modified firmware
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TRW-A210\x00\x00',
+      b'77959-TRW-A220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TRW-A010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TRW-A020\x00\x00',
+      b'78109-TRW-A030\x00\x00',
+    ],
+  },
 }

selfdrive/car/honda/hondacan.py

@@ -53,8 +53,6 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
   pcm_fault_cmd = False
 
   values = {
-    "COMPUTER_BRAKE": apply_brake,
-    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
@@ -67,6 +65,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
+
+  if car_fingerprint == CAR.HONDA_CLARITY:
+    values["COMPUTER_BRAKE_ALT"] = apply_brake
+    values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0
+  else:
+    values["COMPUTER_BRAKE"] = apply_brake
+    values["BRAKE_PUMP_REQUEST"] = pump_on
+
   return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
@@ -134,7 +140,7 @@ def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
+def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
   commands = []
   radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
   bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
@@ -169,7 +175,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
     'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes_visible,
+    'SOLID_LANES': lat_active,
     'BEEP': 0,
   }
 

selfdrive/car/honda/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
@@ -12,6 +12,7 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
@@ -24,6 +25,8 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
       return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+    elif CP.enableGasInterceptor:
+      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
@@ -32,7 +35,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "honda"
 
     CAN = CanBus(ret, fingerprint)
@@ -48,9 +51,10 @@ class CarInterface(CarInterfaceBase):
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
-      ret.openpilotLongitudinalControl = True
+      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
+      ret.openpilotLongitudinalControl = not disable_openpilot_long
 
-      ret.pcmCruise = True
+      ret.pcmCruise = not ret.enableGasInterceptor
 
     if candidate == CAR.HONDA_CRV_5G:
       ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
@@ -100,8 +104,12 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
     elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      if eps_modified:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.HONDA_ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
@@ -184,6 +192,21 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
+    elif candidate == CAR.HONDA_CLARITY:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
+      if eps_modified:
+        for fw in car_fw:
+          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralTuning.pid.kf = 0.00004
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]]
+            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
+          elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [0, 2560, 3840]]
+            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+
     else:
       raise ValueError(f"unsupported car {candidate}")
 
@@ -202,13 +225,16 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
+    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
+
     if candidate in HONDA_BOSCH_RADARLESS:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY}) or ret.enableGasInterceptor
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1
@@ -222,12 +248,13 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_toggles)
 
     ret.buttonEvents = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
     ]
 
     # events
@@ -246,10 +273,10 @@ class CarInterface(CarInterfaceBase):
           # non loud alert if cruise disables below 25mph as expected (+ a little margin)
           events.add(EventName.speedTooLow)
         else:
-          events.add(EventName.cruiseDisabled)
+          events.add(EventName.buttonCancel)
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/honda/values.py

@@ -191,6 +191,11 @@ class CAR(Platforms):
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
+  HONDA_CLARITY = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Clarity 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4052. * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.50, tireStiffnessFactor=1.),
+    dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
+  )
   HONDA_CRV = HondaNidecPlatformConfig(
     [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec

selfdrive/car/hyundai/carcontroller.py

@@ -9,6 +9,8 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel
+
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -57,7 +59,7 @@ class CarController(CarControllerBase):
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
 
@@ -79,7 +81,10 @@ class CarController(CarControllerBase):
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
-    accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+    if frogpilot_toggles.sport_plus:
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
+    else:
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX))
     stopping = actuators.longControlState == LongCtrlState.stopping
     set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
 
@@ -118,7 +123,7 @@ class CarController(CarControllerBase):
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -149,11 +154,11 @@ class CarController(CarControllerBase):
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca))
+                                                        CC.cruiseControl.override, use_fca, CS.out.cruiseState.available))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
-        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, CC.latActive))
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carstate.py

@@ -2,7 +2,7 @@ from collections import deque
 import copy
 import math
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
@@ -52,11 +52,28 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, cp, cp_cam):
+    # FrogPilot variables
+    self.main_enabled = False
+
+    self.active_mode = 0
+    self.drive_mode_prev = 0
+
+  # Traffic signals for Speed Limit Controller - Credit goes to Multikyd!
+  def calculate_speed_limit(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
-      return self.update_canfd(cp, cp_cam)
+      speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+      return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
+    else:
+      speed_limit_nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] if self.CP.flags & HyundaiFlags.NAV_MSG else 0
+      speed_limit_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.flags & HyundaiFlags.LKAS12 else None
+      return speed_limit_cam if speed_limit_cam is not None and speed_limit_cam not in (0, 255) else speed_limit_nav
+
+  def update(self, cp, cp_cam, frogpilot_toggles):
+    if self.CP.carFingerprint in CANFD_CAR:
+      return self.update_canfd(cp, cp_cam, frogpilot_toggles)
 
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
     cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
     self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
     speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
@@ -102,7 +119,7 @@ class CarState(CarStateBase):
     # cruise state
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.available = self.main_enabled
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
@@ -163,12 +180,29 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
+    self.prev_main_buttons = self.main_buttons[-1]
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
+    if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
+      self.main_enabled = not self.main_enabled
 
-    return ret
+    # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"])
 
-  def update_canfd(self, cp, cp_cam):
+    if self.CP.flags & HyundaiFlags.LKAS12 or self.CP.flags & HyundaiFlags.NAV_MSG:
+      fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
+
+    return ret, fp_ret
+
+  def update_canfd(self, cp, cp_cam, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
     speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
@@ -218,7 +252,7 @@ class CarState(CarStateBase):
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
-    ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+    ret.cruiseState.available = self.main_enabled
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
       ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
@@ -239,7 +273,10 @@ class CarState(CarStateBase):
 
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
+    self.prev_main_buttons = self.main_buttons[-1]
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
+      self.main_enabled = not self.main_enabled
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
@@ -247,7 +284,28 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
-    return ret
+    # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["TCS"]["DriverBraking"])
+
+    if self.CP.flags & HyundaiFlags.NAV_MSG:
+      fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
+
+    drive_mode = cp.vl["DRIVE_MODE"]["DRIVE_MODE2"]
+
+    if drive_mode != 0 and drive_mode != self.drive_mode_prev:
+      self.active_mode = drive_mode if drive_mode in (2, 3) else 1
+      self.drive_mode_prev = drive_mode
+
+    fp_ret.ecoGear = self.active_mode == 2
+    fp_ret.sportGear = self.active_mode == 3
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
+
+    return ret, fp_ret
 
   def get_can_parser(self, CP):
     if CP.carFingerprint in CANFD_CAR:
@@ -297,6 +355,13 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
+    if CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      messages.append(("BCM_PO_11", 50))
+
+    messages += [
+      ("Navi_HU", 5),
+    ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
@@ -317,6 +382,9 @@ class CarState(CarStateBase):
       if CP.flags & HyundaiFlags.USE_FCA.value:
         messages.append(("FCA11", 50))
 
+    if CP.flags & HyundaiFlags.LKAS12:
+      messages.append(("LKAS12", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   def get_can_parser_canfd(self, CP):
@@ -330,6 +398,7 @@ class CarState(CarStateBase):
       ("CRUISE_BUTTONS_ALT", 50),
       ("BLINKERS", 4),
       ("DOORS_SEATBELTS", 4),
+      ("DRIVE_MODE", 0),
     ]
 
     if CP.flags & HyundaiFlags.EV:
@@ -352,6 +421,9 @@ class CarState(CarStateBase):
         ("SCC_CONTROL", 50),
       ]
 
+    if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.NAV_MSG:
+      messages.append(("CLUSTER_SPEED_LIMIT", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
 
   @staticmethod
@@ -365,4 +437,7 @@ class CarState(CarStateBase):
         ("SCC_CONTROL", 50),
       ]
 
+    if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.flags & HyundaiFlags.NAV_MSG:
+      messages.append(("CLUSTER_SPEED_LIMIT", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)

selfdrive/car/hyundai/hyundaican.py

@@ -117,20 +117,20 @@ def create_clu11(packer, frame, clu11, button, CP):
   return packer.make_can_msg("CLU11", bus, values)
 
 
-def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
+def create_lfahda_mfc(packer, enabled, lat_active, hda_set_speed=0):
   values = {
-    "LFA_Icon_State": 2 if enabled else 0,
+    "LFA_Icon_State": 2 if lat_active else 0,
     "HDA_Active": 1 if hda_set_speed else 0,
     "HDA_Icon_State": 2 if hda_set_speed else 0,
     "HDA_VSetReq": hda_set_speed,
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, cruise_available):
   commands = []
 
   scc11_values = {
-    "MainMode_ACC": 1,
+    "MainMode_ACC": 1 if cruise_available else 0,
     "TauGapSet": hud_control.leadDistanceBars,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,

selfdrive/car/hyundai/hyundaicanfd.py

@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   values = {
     "LKA_MODE": 2,
-    "LKA_ICON": 2 if enabled else 1,
+    "LKA_ICON": 2 if enabled else 1 if lat_active else 0,  # HDA2
     "TORQUE_REQUEST": apply_steer,
     "LKA_ASSIST": 0,
     "STEER_REQ": 1 if lat_active else 0,
@@ -113,10 +113,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
-def create_lfahda_cluster(packer, CAN, enabled):
+def create_lfahda_cluster(packer, CAN, enabled, lat_active):
   values = {
     "HDA_ICON": 1 if enabled else 0,
-    "LFA_ICON": 2 if enabled else 0,
+    "LFA_ICON": 2 if enabled else 1 if lat_active else 0,  # HDA1
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 

selfdrive/car/hyundai/interface.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
@@ -9,9 +9,13 @@ from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+GearShifter = car.CarState.GearShifter
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
@@ -19,7 +23,9 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
+    use_new_api = params.get_bool("NewLongAPI")
+
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -71,6 +77,9 @@ class CarInterface(CarInterfaceBase):
       if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
         ret.flags |= HyundaiFlags.USE_FCA.value
 
+      if 0x53E in fingerprint[2]:
+        ret.flags |= HyundaiFlags.LKAS12.value
+
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -80,8 +89,18 @@ class CarInterface(CarInterfaceBase):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
+      if not use_new_api:
+        ret.longitudinalTuning.deadzoneBP = [0.]
+        ret.longitudinalTuning.deadzoneV = [0.]
+        ret.longitudinalTuning.kpV = [0.1]
+        ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
+      if not use_new_api:
+        ret.longitudinalTuning.deadzoneBP = [0.]
+        ret.longitudinalTuning.deadzoneV = [0.]
+        ret.longitudinalTuning.kpV = [0.5]
+        ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -95,9 +114,15 @@ class CarInterface(CarInterfaceBase):
     # *** feature detection ***
     if candidate in CANFD_CAR:
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
+
+      if 0x1fa in fingerprint[CAN.ECAN]:
+        ret.flags |= HyundaiFlags.NAV_MSG.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 
+      if 0x544 in fingerprint[0]:
+        ret.flags |= HyundaiFlags.NAV_MSG.value
+
     # *** panda safety config ***
     if candidate in CANFD_CAR:
       cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
@@ -123,6 +148,10 @@ class CarInterface(CarInterfaceBase):
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+      if 0x391 in fingerprint[0]:
+        ret.flags |= HyundaiFlags.CAN_LFA_BTN.value
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN
+
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
@@ -136,6 +165,10 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.4
 
+    # Detect smartMDPS
+    if 0x2AA in fingerprint[0]:
+      ret.minSteerSpeed = 0.
+
     return ret
 
   @staticmethod
@@ -150,17 +183,23 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
 
     if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+      ret.buttonEvents = [
+        *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+      ]
+    else:
+      ret.buttonEvents = create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas})
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.manumatic],
+                                       pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -172,4 +211,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/hyundai/values.py

@@ -95,6 +95,10 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  # FrogPilot HKG flags
+  CAN_LFA_BTN = 2 ** 24
+  LKAS12 = 2 ** 25
+  NAV_MSG = 2 ** 26
 
 class Footnote(Enum):
   CANFD = CarFootnote(

selfdrive/car/interfaces.py

@@ -3,12 +3,13 @@ import os
 import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
+from difflib import SequenceMatcher
 from enum import StrEnum
 from typing import Any, NamedTuple
 from collections.abc import Callable
 from functools import cache
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
@@ -16,11 +17,14 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS, V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params, params_memory
+
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
 
@@ -29,10 +33,15 @@ ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
 FRICTION_THRESHOLD = 0.3
 
+NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
+TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/lat_models')
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
 TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
 
+# dict used to rename activation functions whose names aren't valid python identifiers
+ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
+
 GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
   'P': GearShifter.park, 'PARK': GearShifter.park,
   'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
@@ -45,6 +54,8 @@ GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
   'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
 }
 
+def similarity(s1: str, s2: str) -> float:
+  return SequenceMatcher(None, s1, s2).ratio()
 
 class LatControlInputs(NamedTuple):
   lateral_acceleration: float
@@ -85,6 +96,108 @@ def get_torque_params():
 
   return torque_params
 
+# Twilsonco's Lateral Neural Network Feedforward
+class FluxModel:
+  def __init__(self, params_file, zero_bias=False):
+    with open(params_file, "r") as f:
+      params = json.load(f)
+
+    self.input_size = params["input_size"]
+    self.output_size = params["output_size"]
+    self.input_mean = np.array(params["input_mean"], dtype=np.float32).T
+    self.input_std = np.array(params["input_std"], dtype=np.float32).T
+    self.layers = []
+    self.friction_override = False
+
+    for layer_params in params["layers"]:
+      W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T
+      b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T
+      if zero_bias:
+        b = np.zeros_like(b)
+      activation = layer_params["activation"]
+      for k, v in ACTIVATION_FUNCTION_NAMES.items():
+        activation = activation.replace(k, v)
+      self.layers.append((W, b, activation))
+
+    self.validate_layers()
+    self.check_for_friction_override()
+
+  # Begin activation functions.
+  # These are called by name using the keys in the model json file
+  @staticmethod
+  def sigmoid(x):
+    return 1 / (1 + np.exp(-x))
+
+  @staticmethod
+  def identity(x):
+    return x
+  # End activation functions
+
+  def forward(self, x):
+    for W, b, activation in self.layers:
+      x = getattr(self, activation)(x.dot(W) + b)
+    return x
+
+  def evaluate(self, input_array):
+    in_len = len(input_array)
+    if in_len != self.input_size:
+      # If the input is length 2-4, then it's a simplified evaluation.
+      # In that case, need to add on zeros to fill out the input array to match the correct length.
+      if 2 <= in_len:
+        input_array = input_array + [0] * (self.input_size - in_len)
+      else:
+        raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater")
+
+    input_array = np.array(input_array, dtype=np.float32)
+
+    # Rescale the input array using the input_mean and input_std
+    input_array = (input_array - self.input_mean) / self.input_std
+
+    output_array = self.forward(input_array)
+
+    return float(output_array[0, 0])
+
+  def validate_layers(self):
+    for W, b, activation in self.layers:
+      if not hasattr(self, activation):
+        raise ValueError(f"Unknown activation: {activation}")
+
+  def check_for_friction_override(self):
+    y = self.evaluate([10.0, 0.0, 0.2])
+    self.friction_override = (y < 0.1)
+
+def get_nn_model_path(car, eps_firmware) -> tuple[str | None, float]:
+  def check_nn_path(check_model):
+    model_path = None
+    max_similarity = -1.0
+    for f in os.listdir(TORQUE_NN_MODEL_PATH):
+      if f.endswith(".json"):
+        model = f.replace(".json", "").replace(f"{TORQUE_NN_MODEL_PATH}/", "")
+        similarity_score = similarity(model, check_model)
+        if similarity_score > max_similarity:
+          max_similarity = similarity_score
+          model_path = os.path.join(TORQUE_NN_MODEL_PATH, f)
+    return model_path, max_similarity
+
+  if len(eps_firmware) > 3:
+    eps_firmware = eps_firmware.replace("\\", "")
+    check_model = f"{car} {eps_firmware}"
+  else:
+    check_model = car
+  model_path, max_similarity = check_nn_path(check_model)
+  if car not in model_path or 0.0 <= max_similarity < 0.9:
+    check_model = car
+    model_path, max_similarity = check_nn_path(check_model)
+    if car not in model_path or 0.0 <= max_similarity < 0.9:
+      model_path = None
+  return model_path
+
+def get_nn_model(car, eps_firmware) -> tuple[FluxModel | None, float]:
+  model = get_nn_model_path(car, eps_firmware)
+  if model is not None:
+    model = FluxModel(model)
+  return model
+
 # generic car and radar interfaces
 
 class CarInterfaceBase(ABC):
@@ -110,8 +223,44 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
-    return self.CC.update(c, self.CS, now_nanos)
+    # FrogPilot variables
+    self.frogpilot_toggles = get_frogpilot_toggles()
+
+    eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
+
+    comma_nnff_supported = self.check_comma_nn_ff_support(CP.carFingerprint)
+    nnff_supported = self.initialize_lat_torque_nn(CP.carFingerprint, eps_firmware)
+
+    self.use_nnff = not comma_nnff_supported and nnff_supported and self.frogpilot_toggles.nnff
+    self.use_nnff_lite = not self.use_nnff and self.frogpilot_toggles.nnff_lite
+
+    self.always_on_lateral_disabled = False
+    self.belowSteerSpeed_shown = False
+    self.disable_belowSteerSpeed = False
+    self.disable_resumeRequired = False
+    self.prev_distance_button = False
+    self.resumeRequired_shown = False
+    self.traffic_mode_active = False
+    self.traffic_mode_changed = False
+
+    self.gap_counter = 0
+
+    self.is_gm = self.CP.carName == "gm"
+
+  def get_ff_nn(self, x):
+    return self.lat_torque_nn_model.evaluate(x)
+
+  def check_comma_nn_ff_support(self, car):
+    with open(NEURAL_PARAMS_PATH, 'r') as file:
+      data = json.load(file)
+    return car in data
+
+  def initialize_lat_torque_nn(self, car, eps_firmware) -> bool:
+    self.lat_torque_nn_model = get_nn_model(car, eps_firmware)
+    return self.lat_torque_nn_model is not None
+
+  def apply(self, c: car.CarControl, now_nanos: int, frogpilot_toggles) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles)
 
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
@@ -122,10 +271,10 @@ class CarInterfaceBase(ABC):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], disable_openpilot_long: bool, experimental_long: bool, params: params, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -138,7 +287,15 @@ class CarInterfaceBase(ABC):
     ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
     ret.flags |= int(platform.config.flags)
 
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs)
+
+    # Enable torque controller for all cars that do not use angle based steering
+    if ret.steerControlType != car.CarParams.SteerControlType.angle and params.get_bool("LateralTune") and params.get_bool("NNFF"):
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      eps_firmware = str(next((fw.fwVersion for fw in car_fw if fw.ecu == "eps"), ""))
+      model = get_nn_model_path(candidate, eps_firmware)
+      if model is not None:
+        params.put("NNFFModelName", candidate.replace("_", " "))
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
@@ -230,14 +387,14 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_strings: list[bytes], frogpilot_toggles) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
         cp.update_strings(can_strings)
 
     # get CarState
-    ret = self._update(c)
+    ret, fp_ret = self._update(c, frogpilot_toggles)
 
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
@@ -256,11 +413,18 @@ class CarInterfaceBase(ABC):
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
+    # Add any additional frogpilotCarStates
+    fp_ret.alwaysOnLateralDisabled = self.always_on_lateral_disabled
+    fp_ret.distanceLongPressed = self.frogpilot_distance_functions(frogpilot_toggles)
+    fp_ret.ecoGear |= ret.gearShifter == GearShifter.eco
+    fp_ret.sportGear |= ret.gearShifter == GearShifter.sport
+    fp_ret.trafficModeActive = self.traffic_mode_active
+
     # copy back for next iteration
     if self.CS is not None:
       self.CS.out = ret.as_reader()
 
-    return ret
+    return ret, fp_ret
 
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
@@ -310,6 +474,10 @@ class CarInterfaceBase(ABC):
       if b.type == ButtonType.cancel:
         events.add(EventName.buttonCancel)
 
+      # FrogPilot button presses
+      if b.type == FrogPilotButtonType.lkas and b.pressed:
+        self.always_on_lateral_disabled = not self.always_on_lateral_disabled
+
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:
@@ -340,6 +508,30 @@ class CarInterfaceBase(ABC):
 
     return events
 
+  def frogpilot_distance_functions(self, frogpilot_toggles):
+    distance_button = self.CS.distance_button or params_memory.get_bool("OnroadDistanceButtonPressed")
+
+    if distance_button:
+      self.gap_counter += 1
+    elif not self.prev_distance_button:
+      self.gap_counter = 0
+
+    if self.gap_counter == CRUISE_LONG_PRESS * (1.5 if self.is_gm else 1) and frogpilot_toggles.experimental_mode_via_distance or self.traffic_mode_changed:
+      if frogpilot_toggles.conditional_experimental_mode:
+        conditional_status = params_memory.get_int("CEStatus")
+        override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 1 if conditional_status >= 7 else 2
+        params_memory.put_int("CEStatus", override_value)
+      else:
+        experimental_mode = params.get_bool("ExperimentalMode")
+        params.put_bool("ExperimentalMode", not experimental_mode)
+      self.traffic_mode_changed = False
+
+    if self.gap_counter == CRUISE_LONG_PRESS * 5:
+      self.traffic_mode_active = not self.traffic_mode_active
+      self.traffic_mode_changed = frogpilot_toggles.experimental_mode_via_distance
+
+    self.prev_distance_button = distance_button
+    return self.gap_counter >= CRUISE_LONG_PRESS
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
@@ -379,6 +571,12 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+    # FrogPilot variables
+    self.cruise_decreased = False
+    self.cruise_increased = False
+    self.distance_button = False
+    self.lkas_enabled = False
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])

selfdrive/car/mazda/carcontroller.py

@@ -16,7 +16,7 @@ class CarController(CarControllerBase):
     self.brake_counter = 0
     self.frame = 0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     can_sends = []
 
     apply_steer = 0

selfdrive/car/mazda/carstate.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
@@ -21,9 +21,10 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_toggles):
 
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     self.prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
@@ -110,7 +111,11 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
-    return ret
+    # FrogPilot CarState functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = not self.lkas_disabled
+
+    return ret, fp_ret
 
   @staticmethod
   def get_can_parser(CP):

selfdrive/car/mazda/interface.py

@@ -1,23 +1,22 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
-    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
-
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
 
@@ -31,11 +30,14 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
 
      # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # events
     events = self.create_common_events(ret)
@@ -47,4 +49,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/mock/interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 import cereal.messaging as messaging
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70
@@ -21,12 +21,13 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = True
     return ret
 
-  def _update(self, c):
+  def _update(self, c, frogpilot_toggles):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
     ret.vEgo = self.sm[gps_sock].speed
     ret.vEgoRaw = self.sm[gps_sock].speed
 
-    return ret
+    return ret, fp_ret

selfdrive/car/nissan/carcontroller.py

@@ -19,7 +19,7 @@ class CarController(CarControllerBase):
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -68,7 +68,7 @@ class CarController(CarControllerBase):
     if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive))
 
       if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(

selfdrive/car/nissan/carstate.py

@@ -1,6 +1,6 @@
 import copy
 from collections import deque
-from cereal import car
+from cereal import car, custom
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.common.conversions import Conversions as CV
@@ -23,8 +23,9 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_adas, cp_cam):
+  def update(self, cp, cp_adas, cp_cam, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     self.prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
@@ -107,6 +108,7 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
+    self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
     else:
@@ -121,7 +123,7 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
-    return ret
+    return ret, fp_ret
 
   @staticmethod
   def get_can_parser(CP):

selfdrive/car/nissan/interface.py

@@ -1,16 +1,17 @@
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
@@ -29,10 +30,13 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_toggles)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
@@ -41,4 +45,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/nissan/nissancan.py

@@ -65,7 +65,7 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
   return packer.make_can_msg("CANCEL_MSG", 2, values)
 
 
-def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart, lat_active):
   values = {s: lkas_hud_msg[s] for s in [
     "LARGE_WARNING_FLASHING",
     "SIDE_RADAR_ERROR_FLASHING1",
@@ -98,9 +98,9 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le
   values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
   values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
 
-  values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
-  values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
-  values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
+  values["LARGE_STEERING_WHEEL_ICON"] = 2 if lat_active else 0
+  values["RIGHT_LANE_GREEN"] = 1 if right_line and lat_active else 0
+  values["LEFT_LANE_GREEN"] = 1 if left_line and lat_active else 0
 
   return packer.make_can_msg("PROPILOT_HUD", 0, values)
 

selfdrive/car/nissan/values.py

@@ -48,7 +48,11 @@ class CAR(Platforms):
   )
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
   # Currently the only known difference between them is the inverted seatbelt signal.
-  NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[])
+  NISSAN_LEAF_IC = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Leaf 2018-23 - Instrument Cluster", video_link="https://youtu.be/vaMbtAh_0cY")],
+    NISSAN_LEAF.specs,
+    dbc_dict('nissan_leaf_2018_generated', None),
+  )
   NISSAN_ROGUE = NissanPlatformConfig(
     [NissanCarDocs("Nissan Rogue 2018-20")],
     NissanCarSpecs(mass=1610, wheelbase=2.705)

selfdrive/car/secoc.py

@@ -0,0 +1,47 @@
+import struct
+
+from Crypto.Hash import CMAC
+from Crypto.Cipher import AES
+
+def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg):
+  # TODO: clean up conversion to and from hex
+
+  addr, payload, bus = msg
+  reset_flag = reset_cnt & 0b11
+  msg_cnt_flag = msg_cnt & 0b11
+  payload = payload[:4]
+
+  # Step 1: Build Freshness Value (48 bits)
+  # [Trip Counter (16 bit)][[Reset Counter (20 bit)][Message Counter (8 bit)][Reset Flag (2 bit)][Padding (2 bit)]
+  freshness_value = struct.pack('>HI', trip_cnt, (reset_cnt << 12) | ((msg_cnt & 0xff) << 4) | (reset_flag << 2))
+
+  # Step 2: Build data to authenticate (96 bits)
+  # [Message ID (16 bits)][Payload (32 bits)][Freshness Value (48 bits)]
+  to_auth = struct.pack('>H', addr) + payload + freshness_value
+
+  # Step 3: Calculate CMAC (28 bit)
+  cmac = CMAC.new(key, ciphermod=AES)
+  cmac.update(to_auth)
+  mac = cmac.digest().hex()[:7] # truncated MAC
+
+  # Step 4: Build message
+  # [Payload (32 bit)][Message Counter Flag (2 bit)][Reset Flag (2 bit)][Authenticator (28 bit)]
+  msg_cnt_rst_flag = struct.pack('>B', (msg_cnt_flag << 2) | reset_flag).hex()[1]
+  msg = payload.hex() + msg_cnt_rst_flag + mac
+  payload = bytes.fromhex(msg)
+
+  return (addr, payload, bus)
+
+def build_sync_mac(key, trip_cnt, reset_cnt, id_=0xf):
+  id_ = struct.pack('>H', id_) # 16
+  trip_cnt = struct.pack('>H', trip_cnt) # 16
+  reset_cnt = struct.pack('>I', reset_cnt << 12)[:-1] # 20 + 4 padding
+
+  to_auth = id_ + trip_cnt + reset_cnt # SecOC 11.4.1.1 page 138
+
+  cmac = CMAC.new(key, ciphermod=AES)
+  cmac.update(to_auth)
+
+  msg = "0" + cmac.digest().hex()[:7]
+  msg = bytes.fromhex(msg)
+  return struct.unpack('>I', msg)[0]

selfdrive/car/subaru/carcontroller.py

@@ -23,7 +23,7 @@ class CarController(CarControllerBase):
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -100,7 +100,7 @@ class CarController(CarControllerBase):
 
         can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))

selfdrive/car/subaru/carstate.py

@@ -1,10 +1,10 @@
 import copy
-from cereal import car
+from cereal import car, custom
 from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, CanBus, PREGLOBAL_CARS, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
 
 
@@ -16,8 +16,9 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
     ret.gas = throttle_msg["Throttle_Pedal"] / 255.
@@ -125,7 +126,15 @@ class CarState(CarStateBase):
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
-    return ret
+    # FrogPilot CarState functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.car_fingerprint not in PREGLOBAL_CARS:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_DashStatus"]["Brake_Lights"])
+      self.lkas_enabled = self.es_lkas_state_msg.get("LKAS_Dash_State")
+    else:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_Brake"]["Cruise_Brake_Lights"])
+
+    return ret, fp_ret
 
   @staticmethod
   def get_common_global_body_messages(CP):
@@ -196,6 +205,7 @@ class CarState(CarStateBase):
       messages = [
         ("ES_DashStatus", 20),
         ("ES_Distance", 20),
+        ("ES_Brake", 20),
       ]
     else:
       messages = [
@@ -226,4 +236,3 @@ class CarState(CarStateBase):
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
-

selfdrive/car/subaru/interface.py

@@ -1,22 +1,25 @@
-from cereal import car
+from cereal import car, custom
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
+
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
     # - replacement for ES_Distance so we can cancel the cruise control
     # - to find the Cruise_Activated bit from the car
     # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
-    ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
+    ret.dashcamOnly = bool(ret.flags & (SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
     ret.autoResumeSng = False
 
     # Detect infotainment message sent from the camera
@@ -50,9 +53,9 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.SUBARU_IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller
       ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kf = 0.00003333
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]]
 
     elif candidate == CAR.SUBARU_IMPREZA_2020:
       ret.lateralTuning.init('pid')
@@ -97,13 +100,17 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c, frogpilot_toggles):
 
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_toggles)
+
+    ret.buttonEvents = [
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     ret.events = self.create_common_events(ret).to_msg()
 
-    return ret
+    return ret, fp_ret
 
   @staticmethod
   def init(CP, logcan, sendcan):

selfdrive/car/subaru/subarucan.py

@@ -66,7 +66,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
   return packer.make_can_msg("ES_Distance", bus, values)
 
 
-def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart, lat_active):
   values = {s: es_lkas_state_msg[s] for s in [
     "CHECKSUM",
     "LKAS_Alert_Msg",
@@ -118,9 +118,11 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert
     elif right_lane_depart:
       values["LKAS_Alert"] = 11  # Right lane departure dash alert
 
-  if enabled:
+  if lat_active:
     values["LKAS_ACTIVE"] = 1  # Show LKAS lane lines
     values["LKAS_Dash_State"] = 2  # Green enabled indicator
+    values["LKAS_Left_Line_Enable"] = 1
+    values["LKAS_Right_Line_Enable"] = 1
   else:
     values["LKAS_Dash_State"] = 0  # LKAS Not enabled
 

selfdrive/car/subaru/values.py

@@ -7,6 +7,8 @@ from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
+
 Ecu = car.CarParams.Ecu
 
 
@@ -25,6 +27,8 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_MAX = 1439
+    elif CP.carFingerprint == CAR.SUBARU_IMPREZA:
+      self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047
 
@@ -208,6 +212,8 @@ class CAR(Platforms):
   )
 
 
+PREGLOBAL_CARS = {CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_LEGACY_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018}
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \

selfdrive/car/tesla/carcontroller.py

@@ -15,7 +15,7 @@ class CarController(CarControllerBase):
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
     pcm_cancel_cmd = CC.cruiseControl.cancel
 

selfdrive/car/tesla/carstate.py

@@ -1,6 +1,6 @@
 import copy
 from collections import deque
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
@@ -20,8 +20,9 @@ class CarState(CarStateBase):
     self.acc_state = 0
     self.das_control_counters = deque(maxlen=32)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_toggles):
     ret = car.CarState.new_message()
+    fp_ret = custom.FrogPilotCarState.new_message()
 
     # Vehicle speed
     ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
@@ -102,7 +103,7 @@ class CarState(CarStateBase):
     self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
     self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
 
-    return ret
+    return ret, fp_ret
 
   @staticmethod
   def get_can_parser(CP):

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
@@ -25,7 +25,7 @@ class CarInterface(CarInterfaceBase):
     # If so, we assume that it is connected to the longitudinal harness.
     flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
     if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
-      ret.openpilotLongitudinalControl = True
+      ret.openpilotLongitudinalControl = not disable_openpilot_long
       flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.safetyConfigs = [
         get_safety_config(car.CarParams.SafetyModel.tesla, flags),
@@ -39,9 +39,9 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.25
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
 
     ret.events = self.create_common_events(ret).to_msg()
 
-    return ret
+    return ret, fp_ret

selfdrive/car/tests/routes.py

@@ -295,6 +295,8 @@ routes = [
   CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
 
   # Segments that test specific issues
+  # Controls mismatch due to interceptor threshold
+  CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
   # Controls mismatch due to standstill threshold
   CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
 ]

selfdrive/car/tests/test_car_interfaces.py

@@ -76,6 +76,10 @@ class TestCarInterfaces:
     assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
     assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
 
+    # If we're using the interceptor for gasPressed, we should be commanding gas with it
+    if car_params.enableGasInterceptor:
+      self.assertTrue(car_params.openpilotLongitudinalControl)
+
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning

selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json

@@ -0,0 +1 @@
+{"input_std":[[8.319796],[0.8197253],[0.2695665],[0.042975243],[0.82591987],[0.8242552],[0.82166827],[0.7989035],[0.78012997],[0.7541669],[0.727379],[0.042928882],[0.042931043],[0.04292182],[0.042691696],[0.042392965],[0.04186602],[0.041271493]],"model_test_loss":0.026207376271486282,"input_size":18,"current_date_and_time":"2023-08-05_00-22-46","input_mean":[[26.074522],[0.02839493],[0.0066744387],[0.002057746],[0.02693295],[0.026884235],[0.027213756],[0.03047188],[0.032183405],[0.03682154],[0.037578877],[0.0020827646],[0.0020767434],[0.002068271],[0.0019987107],[0.001959759],[0.0019052405],[0.0017531246]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.040739167],[2.3032],[0.12316159],[-0.2659433],[-0.14477858],[2.5866256],[0.007428121]],"dense_1_W":[[-0.00041187002,-0.43338582,0.00060599507,-0.1214792,0.11413983,-0.5961203,0.28133482,0.20372222,-0.3518884,0.004369656,0.059917737,-0.8609317,0.057816904,0.6169038,0.3990334,0.008638719,0.40356407,-0.16347249],[2.204209,-0.6977474,0.0003794136,-0.029842956,0.42360333,-0.03850665,0.77470416,0.13669024,-1.1576334,-0.2837559,0.290581,-0.20709048,0.06827377,0.39236906,0.2664924,-0.070944384,0.061474152,-0.18787181],[0.0027994395,1.1713752,3.9056025,-0.2533814,-0.5706249,-0.31465232,-0.28078023,0.9239433,0.8800892,0.45323586,-1.5842354,1.1251147,0.001203793,-0.631376,0.17771868,-0.5216376,-0.3776946,0.2864524],[-0.45875242,-0.35037747,-0.0044959267,0.2115901,0.49776042,0.40634266,0.16292186,0.085123494,-0.9553305,-0.6551008,1.0865217,-0.71530885,-0.122710146,0.41569617,0.053198084,-0.013457165,0.36482632,-0.3238176],[-0.002217434,1.7620963,-1.2475897,0.2861537,2.5786693,1.6882615,2.2971427,0.5035391,-3.1869397,-3.7319245,-1.4041471,-1.1169863,-0.17736337,0.21103925,0.1615338,-0.7596914,0.4106967,0.9845423],[2.4344306,-0.5410767,0.0015357351,-0.4139311,-0.2258391,0.22010726,-0.43920308,0.3511928,0.9479655,0.80018866,-0.516027,0.007953332,0.033446178,-0.082440384,0.35339966,-0.26683265,-0.33867463,0.3848125],[-0.006754755,0.48652485,-0.00026165723,-0.07224382,-0.032497358,0.3571908,-0.30286846,-0.38309038,0.36634418,0.2480767,-0.20110212,0.7545479,0.11547977,-0.7146525,-0.018818611,-0.31016228,0.010726242,0.2242711]],"activation":"σ"},{"dense_2_W":[[0.5528864,0.008744154,0.6015725,0.22935376,-0.51005757,-0.5996119,-0.061544895],[-1.4023882,0.050312754,-0.09053194,-0.5902193,0.3458193,-0.14508769,0.946796],[-1.1020836,-1.510418,0.81544393,-0.40635344,-0.4560999,-0.2849373,1.1164322],[-0.4434681,-0.6467564,0.35384342,-0.4493043,-0.23754148,-0.24804021,0.9237547],[-0.27906877,-0.9630674,0.42410734,-0.76862967,-0.59738564,-0.70335937,-0.18449919],[-0.50024533,-0.013576657,0.25596973,0.105690226,-0.52567744,0.80972326,0.7098216],[-0.8556806,-0.14960146,-0.14877279,0.25888273,-0.18901795,-0.16515623,0.7054368],[-1.041555,0.5246004,0.87523067,-0.4851678,-0.5188004,1.3508142,1.344452],[0.83991337,0.54517484,0.09614608,0.028868627,0.35332617,0.22425945,-0.24393064],[0.48884755,-0.6723522,0.161554,-0.18337585,0.010732531,0.042358696,-0.94669324],[0.7589174,0.44016284,-0.21002136,-0.7584538,-0.1012028,-0.44348133,-0.34792235],[0.68993133,-0.13230318,-0.20205282,0.33807474,0.2551999,-0.7216631,-0.9246813],[0.55567986,0.92921287,-0.3879664,-0.06419992,0.44321644,0.34334105,-0.7811811]],"activation":"σ","dense_2_b":[[0.009339096],[-0.027214382],[-0.19324711],[-0.1799901],[-0.3219004],[-0.0076973503],[0.031202752],[0.1887236],[-0.10121091],[-0.21036065],[-0.02065366],[-0.068702094],[0.096490316]]},{"dense_3_W":[[0.5728007,-0.3089611,0.28924087,-0.5445901,0.35486373,-0.44516575,-0.5423116,0.1779453,0.58426845,0.66963387,-0.31166366,0.6550927,0.50334716],[-0.40078798,-0.027345562,-0.5357739,-0.5126658,-0.5254064,-0.32021227,-0.44433862,-0.79833746,-0.10665151,0.20663711,-0.17090832,0.98109436,0.78809434],[-0.17410587,0.23138371,0.66809905,0.2743278,0.096785605,0.5667218,0.52852666,0.4389385,-0.4016732,0.05424836,-0.7506198,-0.71257013,-0.20795672]],"activation":"identity","dense_3_b":[[0.02470415],[0.1408834],[-0.05001292]]},{"dense_4_W":[[-0.3242929,-0.272474,0.8721407]],"dense_4_b":[[-0.046378713]],"activation":"identity"}]}

selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json

@@ -0,0 +1 @@
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selfdrive/car/torque_data/lat_models/AUDI_Q3_MK2.json

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selfdrive/car/torque_data/lat_models/BUICK_LACROSSE.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_EQUINOX.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_EQUINOX_CC.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_SILVERADO.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_SUBURBAN.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_SUBURBAN_CC.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_TRAILBLAZER.json

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selfdrive/car/torque_data/lat_models/CHEVROLET_VOLT.json

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selfdrive/car/torque_data/lat_models/CHRYSLER_PACIFICA_2017_HYBRID.json

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selfdrive/car/torque_data/lat_models/CHRYSLER_PACIFICA_2018_HYBRID.json

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selfdrive/car/torque_data/lat_models/CHRYSLER_PACIFICA_2019_HYBRID.json

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selfdrive/car/torque_data/lat_models/CHRYSLER_PACIFICA_2020.json

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selfdrive/car/torque_data/lat_models/GENESIS_G70.json

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selfdrive/car/torque_data/lat_models/GENESIS_GV60_EV_1ST_GEN.json

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selfdrive/car/torque_data/lat_models/GENESIS_GV70_1ST_GEN.json

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selfdrive/car/torque_data/lat_models/GMC_ACADIA.json

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selfdrive/car/torque_data/lat_models/HONDA_ACCORD.json

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selfdrive/car/torque_data/lat_models/HONDA_CIVIC.json

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selfdrive/car/torque_data/lat_models/HONDA_CIVIC_2022.json

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selfdrive/car/torque_data/lat_models/HONDA_CIVIC_BOSCH.json

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selfdrive/car/torque_data/lat_models/HONDA_CLARITY.json

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selfdrive/car/torque_data/lat_models/HONDA_CRV_5G.json

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selfdrive/car/torque_data/lat_models/HONDA_CRV_HYBRID.json

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selfdrive/car/torque_data/lat_models/HONDA_HRV.json

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selfdrive/car/torque_data/lat_models/HONDA_INSIGHT.json

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selfdrive/car/torque_data/lat_models/HONDA_ODYSSEY.json

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selfdrive/car/torque_data/lat_models/HONDA_PILOT.json

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selfdrive/car/torque_data/lat_models/HONDA_RIDGELINE.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_ELANTRA_2021.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_ELANTRA_HEV_2021.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_GENESIS.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_IONIQ_5.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_IONIQ_EV_LTD.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_IONIQ_PHEV.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_KONA_EV.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_KONA_EV_2022.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_KONA_HEV.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_PALISADE.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_SANTA_FE.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_SANTA_FE_2022.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_SANTA_FE_HEV_2022.json

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selfdrive/car/torque_data/lat_models/HYUNDAI_SANTA_FE_PHEV_2022.json

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