Toyota TSS1 SnG - init

common/params_keys.h

@@ -144,4 +144,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
     {"dp_device_ip", CLEAR_ON_MANAGER_START},
+    {"dp_toyota_tss1_sng", PERSISTENT},
 };

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

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

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

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(

selfdrive/car/card.py

@@ -105,6 +105,9 @@ 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), alpha_long_allowed, is_release, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

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;

system/manager/manager.py

@@ -61,6 +61,7 @@ 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"):