From 126db660c87d9894a35f9dfffd35e87e7eb0641f Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Fri, 4 Jul 2025 09:36:11 -0700 Subject: [PATCH] abh, bsm --- openpilot/common/params_keys.h | 5 +++++ openpilot/selfdrive/car/card.py | 8 +++++++- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h index 279d36abfd..ba550c0d5c 100644 --- a/openpilot/common/params_keys.h +++ b/openpilot/common/params_keys.h @@ -185,6 +185,11 @@ inline static std::unordered_map keys = { {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}}, {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}}, + // toyota specific params + {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}}, + {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}}, + // MADS params {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}}, {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}}, diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py index d9b7b4bb5a..78e5ab6cd0 100755 --- a/openpilot/selfdrive/car/card.py +++ b/openpilot/selfdrive/car/card.py @@ -11,7 +11,7 @@ from opendbc.car.structs import car from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog, ForwardingHandler - +from opendbc.safety import ALTERNATIVE_EXPERIENCE from opendbc.car import DT_CTRL, structs from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable from opendbc.car.carlog import carlog @@ -122,7 +122,13 @@ class Car: self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP self.RI = RI + # set alternative experiences from parameters + sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold") self.CP.alternativeExperience = 0 + if sp_toyota_auto_brake_hold: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB + + # mads set_alternative_experience(self.CP, self.CP_SP, self.params) set_car_specific_params(self.CP, self.CP_SP, self.params)