From f5795947b3e64addd13ebd4d0d686ee7a7da0bc9 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Mon, 31 Mar 2025 13:37:45 +0800
Subject: [PATCH] Toyota TSS1 SnG - init

---
 common/params_keys.h                             | 1 +
 opendbc_repo/opendbc/car/structs.py              | 1 +
 opendbc_repo/opendbc/car/toyota/carcontroller.py | 3 +++
 opendbc_repo/opendbc/car/toyota/interface.py     | 3 +++
 opendbc_repo/opendbc/car/toyota/values.py        | 1 +
 selfdrive/car/card.py                            | 3 +++
 selfdrive/ui/qt/offroad/dp_panel.cc              | 5 +++++
 system/manager/manager.py                        | 1 +
 8 files changed, 18 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6b11bfea0..fab6303f8 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -140,4 +140,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_lon_no_gas_gating", PERSISTENT},
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
+    {"dp_toyota_tss1_sng", PERSISTENT},
 };
diff --git a/opendbc_repo/opendbc/car/structs.py b/opendbc_repo/opendbc/car/structs.py
index 7389cec8b..cda8e5836 100644
--- a/opendbc_repo/opendbc/car/structs.py
+++ b/opendbc_repo/opendbc/car/structs.py
@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
+  ToyotaTSS1SnG = 2 ** 2
   pass
diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index 80864c2cc..5b27be48d 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -172,6 +172,9 @@ class CarController(CarControllerBase):
       # pcm entered standstill or it's disabled
       self.standstill_req = False
 
+    if (self.CP.flags & ToyotaFlags.TSS1_SNG.value) and CS.out.standstill and not self.last_standstill:
+      self.standstill_req = False
+
     self.last_standstill = CS.out.standstill
 
     # handle UI messages
diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index b0f75ef7d..b4bdaf16e 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -151,6 +151,9 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & ToyotaFlags.HYBRID.value:
         ret.longitudinalActuatorDelay = 0.05
 
+    if dp_params & structs.DPFlags.ToyotaTSS1SnG:
+      ret.flags |= ToyotaFlags.TSS1_SNG.value
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index 4848a354e..c53abe605 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -77,6 +77,7 @@ class ToyotaFlags(IntFlag):
   SECOC = 2048
 
   ALKA = 2 ** 12
+  TSS1_SNG = 2 ** 13
 
 class Footnote(Enum):
   CAMRY = CarFootnote(
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 067108352..a1ad823b7 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -102,6 +102,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LateralALKA
 
+      if self.params.get_bool("dp_toyota_tss1_sng"):
+        dp_params |= structs.DPFlags.ToyotaTSS1SnG
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc
index 8868a6033..db89adbe8 100644
--- a/selfdrive/ui/qt/offroad/dp_panel.cc
+++ b/selfdrive/ui/qt/offroad/dp_panel.cc
@@ -7,6 +7,11 @@ void DPPanel::add_toyota_toggles() {
       QString::fromUtf8("🐉 ") + tr("Toyota / Lexus"),
       "",
     },
+    {
+      "dp_toyota_tss1_sng",
+      tr("Enable TSS1 SnG Mod"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index da9ed9e2d..431e5890e 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -62,6 +62,7 @@ def manager_init() -> None:
     ("dp_lon_no_gas_gating", "0"),
     ("dp_device_auto_shutdown_in", "-5"),
     ("dp_ui_radar_tracks", "0"),
+    ("dp_toyota_tss1_sng", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):