test2

opendbc_repo/opendbc/car/car_helpers.py

@@ -11,7 +11,6 @@ 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 ToyotaStarPilotFlags
 from opendbc.car.values import BRANDS
 from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.common.params import Params
@@ -301,10 +300,6 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
 
   FPCP: StarPilotCarParams = CarInterface.get_starpilot_params(candidate, fingerprints, car_fw, CP, starpilot_toggles)
 
-  if CP.brand == "toyota" and FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value:
-    CP.minEnableSpeed = -1
-    CP.openpilotLongitudinalControl = True
-
   if not CP.alphaLongitudinalAvailable and starpilot_toggles.disable_openpilot_long:
     CP.openpilotLongitudinalControl = False
     FPCP.openpilotLongitudinalControlDisabled = True

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -171,7 +171,10 @@ class CarState(CarStateBase):
       ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
 
     if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      # smartDSU can intercept ACC_CONTROL, so don't require it when it's no
+      # longer forwarded on the PT bus.
+      if not self.has_SDSU:
+        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars

opendbc_repo/opendbc/car/toyota/interface.py

@@ -50,6 +50,11 @@ class CarInterface(CarInterfaceBase):
 
     stop_and_go = candidate in TSS2_CAR
 
+    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing
+    # openpilot to send it. 0x2AA is sent by a similar device which intercepts
+    # the radar instead of DSU on NO_DSU_CARs.
+    use_sdsu = bool(0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR))
+
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
 
@@ -104,21 +109,27 @@ class CarInterface(CarInterfaceBase):
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = Bus.radar not in DBC[candidate] or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
+    # Since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate
+    # longitudinal behind the alpha-long toggle.
     if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.alphaLongitudinalAvailable = candidate in RADAR_ACC_CAR
+      ret.alphaLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
 
-      # Disabling radar is only supported on TSS2 radar-ACC cars
-      if alpha_long and candidate in RADAR_ACC_CAR:
-        ret.flags |= ToyotaFlags.DISABLE_RADAR.value
+      if not use_sdsu:
+        # Disabling radar is only supported on TSS2 radar-ACC cars.
+        if alpha_long and candidate in RADAR_ACC_CAR:
+          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
+      else:
+        use_sdsu = use_sdsu and alpha_long
 
     # openpilot longitudinal enabled by default:
-    #  - cars w/ DSU disconnected
+    #  - non-(TSS2 radar ACC cars) w/ smartDSU or radar filter installed
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
     # openpilot longitudinal behind experimental long toggle:
+    #  - TSS2 radar ACC cars w/ smartDSU or radar filter installed
     #  - TSS2 radar ACC cars (disables radar)
 
-    ret.openpilotLongitudinalControl = (candidate in (TSS2_CAR - RADAR_ACC_CAR) or
+    ret.openpilotLongitudinalControl = (use_sdsu or
+                                        candidate in (TSS2_CAR - RADAR_ACC_CAR) or
                                         bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value))
 
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR

selfdrive/ui/ui_state.py

@@ -141,7 +141,8 @@ class UIState:
     elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
       self.light_sensor = -1
 
-    started = self.sm["deviceState"].started and self.ignition
+    # Trust hardwared's filtered started state; raw ignition can flap on Toyota.
+    started = self.sm["deviceState"].started
     started |= self.params.get_bool("ForceOnroad")
     started &= not self.params.get_bool("ForceOffroad")
     self.started = started