From bcab265c86153e8257adcb121b2da205c87ac948 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 13 Dec 2025 12:40:41 -0700
Subject: [PATCH] ZSS support

Co-Authored-By: Erich Moraga <33645296+erichmoraga@users.noreply.github.com>
---
 opendbc_repo/opendbc/car/interfaces.py      |  4 ++++
 opendbc_repo/opendbc/car/toyota/carstate.py | 22 +++++++++++++++++++++
 opendbc_repo/opendbc/car/toyota/values.py   |  1 +
 3 files changed, 27 insertions(+)

diff --git a/opendbc_repo/opendbc/car/interfaces.py b/opendbc_repo/opendbc/car/interfaces.py
index e7f44519..e9104fa3 100644
--- a/opendbc_repo/opendbc/car/interfaces.py
+++ b/opendbc_repo/opendbc/car/interfaces.py
@@ -217,6 +217,10 @@ class CarInterfaceBase(ABC):
         if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
           fp_ret.flags |= ToyotaFrogPilotFlags.SMART_DSU.value
 
+        if candidate == TOYOTA.TOYOTA_PRIUS:
+          if 0x23 in fingerprint[0]:
+            fp_ret.flags |= ToyotaFrogPilotFlags.ZSS.value
+
     return fp_ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/toyota/carstate.py b/opendbc_repo/opendbc/car/toyota/carstate.py
index bc309adc..7aaecb04 100644
--- a/opendbc_repo/opendbc/car/toyota/carstate.py
+++ b/opendbc_repo/opendbc/car/toyota/carstate.py
@@ -68,8 +68,14 @@ class CarState(CarStateBase):
     self.secoc_synchronization = None
 
     # FrogPilot variables
+    self.latActive_previous = False
+    self.needs_angle_offset_zss = False
+
+    self.angle_offset_zss = 0
+
     self.has_can_filter = self.FPCP.flags & ToyotaFrogPilotFlags.RADAR_CAN_FILTER.value
     self.has_SDSU = self.FPCP.flags & ToyotaFrogPilotFlags.SMART_DSU.value
+    self.has_ZSS = self.FPCP.flags & ToyotaFrogPilotFlags.ZSS.value
 
   def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -236,6 +242,22 @@ class CarState(CarStateBase):
       fp_ret.ecoGear = cp.vl["GEAR_PACKET"]["ECON_ON"] == 1
       fp_ret.sportGear = cp.vl["GEAR_PACKET"]["SPORT_ON_2" if self.CP.flags & ToyotaFlags.NO_DSU else "SPORT_ON"] == 1
 
+    # ZSS Support - Credit goes to Erich!
+    if self.has_ZSS:
+      if self.CC.latActive and not self.latActive_previous:
+        self.needs_angle_offset_zss = True
+      self.latActive_previous = self.CC.latActive
+
+      if self.needs_angle_offset_zss:
+        zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
+        if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
+          self.needs_angle_offset_zss = False
+          self.angle_offset_zss = zorro_steer - ret.steeringAngleDeg
+      else:
+        zorro_steer_value = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] - self.angle_offset_zss
+        if abs(ret.steeringAngleDeg - zorro_steer_value) < 4.0:
+          ret.steeringAngleDeg = zorro_steer_value
+
     ret.buttonEvents = buttonEvents
 
     return ret, fp_ret
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index b4d4bb85..d44feb14 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -84,6 +84,7 @@ class ToyotaFlags(IntFlag):
 class ToyotaFrogPilotFlags(IntFlag):
   RADAR_CAN_FILTER = 1
   SMART_DSU = 2
+  ZSS = 4
 
 
 def dbc_dict(pt, radar):