From 2f31c511f036275653c8bbe34793b100190187b2 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] SDSU support

---
 opendbc_repo/opendbc/car/car_helpers.py     | 5 +++++
 opendbc_repo/opendbc/car/interfaces.py      | 8 +++++++-
 opendbc_repo/opendbc/car/toyota/carstate.py | 8 ++++++++
 opendbc_repo/opendbc/car/toyota/values.py   | 2 ++
 4 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/car_helpers.py b/opendbc_repo/opendbc/car/car_helpers.py
index 78b35c35..e2f1040b 100644
--- a/opendbc_repo/opendbc/car/car_helpers.py
+++ b/opendbc_repo/opendbc/car/car_helpers.py
@@ -11,6 +11,7 @@ from opendbc.car.structs import CarParams, CarParamsT
 from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
 from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.toyota.values import ToyotaFrogPilotFlags
 from opendbc.car.values import BRANDS
 from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
@@ -175,6 +176,10 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   # FrogPilot variables
   FPCP: FrogPilotCarParams = CarInterface.get_frogpilot_params(candidate, fingerprints, car_fw, CP, frogpilot_toggles)
 
+  if CP.brand == "toyota" and FPCP.flags & ToyotaFrogPilotFlags.SMART_DSU.value:
+    CP.minEnableSpeed = -1
+    CP.openpilotLongitudinalControl = True
+
   if not CP.alphaLongitudinalAvailable and frogpilot_toggles.disable_openpilot_long:
     CP.openpilotLongitudinalControl = False
     FPCP.openpilotLongitudinalControlDisabled = True
diff --git a/opendbc_repo/opendbc/car/interfaces.py b/opendbc_repo/opendbc/car/interfaces.py
index 794d558e..e7f44519 100644
--- a/opendbc_repo/opendbc/car/interfaces.py
+++ b/opendbc_repo/opendbc/car/interfaces.py
@@ -22,7 +22,7 @@ from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HondaSafetyFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiFrogPilotSafetyFlags
 from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.toyota.values import CAR as TOYOTA, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaFrogPilotFlags, ToyotaSafetyFlags
+from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaFrogPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
 from opendbc.can import CANParser
 from openpilot.common.params import Params
@@ -211,6 +211,12 @@ class CarInterfaceBase(ABC):
         fp_ret.canUsePedal = not CP.autoResumeSng
         fp_ret.canUseSDSU = candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR
 
+        if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
+          fp_ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
+
+        if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
+          fp_ret.flags |= ToyotaFrogPilotFlags.SMART_DSU.value
+
     return fp_ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/toyota/carstate.py b/opendbc_repo/opendbc/car/toyota/carstate.py
index 549915f7..8f07935b 100644
--- a/opendbc_repo/opendbc/car/toyota/carstate.py
+++ b/opendbc_repo/opendbc/car/toyota/carstate.py
@@ -55,6 +55,8 @@ class CarState(CarStateBase):
     self.secoc_synchronization = None
 
     # FrogPilot variables
+    self.has_can_filter = self.FPCP.flags & ToyotaFrogPilotFlags.RADAR_CAN_FILTER.value
+    self.has_SDSU = self.FPCP.flags & ToyotaFrogPilotFlags.SMART_DSU.value
 
   def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -204,6 +206,12 @@ class CarState(CarStateBase):
     # FrogPilot variables
     fp_ret = custom.FrogPilotCarState.new_message()
 
+    if self.has_SDSU and not self.has_can_filter:
+      prev_distance_button = self.distance_button
+      self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+
+      buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     buttonEvents += [
       *create_button_events(self.pcm_acc_status == 9, False, {1: ButtonType.accelCruise}),
       *create_button_events(self.pcm_acc_status == 10, False, {1: ButtonType.decelCruise}),
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index c1b1dd03..b4d4bb85 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -82,6 +82,8 @@ class ToyotaFlags(IntFlag):
 
 # FrogPilot variables
 class ToyotaFrogPilotFlags(IntFlag):
+  RADAR_CAN_FILTER = 1
+  SMART_DSU = 2
 
 
 def dbc_dict(pt, radar):