From 4d7d9571e73c104dc97d4d65a93df1c0d62f3013 Mon Sep 17 00:00:00 2001
From: rav4kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 15 Aug 2026 03:03:36 -0700
Subject: [PATCH] feat(toyota): make TSS2 longitudinal response configurable

---
 opendbc_repo                                          |  2 +-
 openpilot/common/params_keys.h                        |  3 +++
 openpilot/sunnypilot/selfdrive/car/interfaces.py      |  1 +
 .../selfdrive/car/tests/test_custom_cruise.py         |  8 ++++++++
 openpilot/sunnypilot/sunnylink/settings_ui.json       | 11 +++++++++++
 .../sunnylink/settings_ui_src/pages/vehicle.yaml      |  6 ++++++
 6 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index d28519b9f4..07f503c6ee 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d28519b9f4dca2e4182114910b1bdd0fae8799a7
+Subproject commit 07f503c6eef557dcdb56e89732a0b51505110aa3
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 3fee8184b6..1a6383fdc9 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -187,6 +187,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
+    // toyota specific params
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index 4988e863b1..c748984ae6 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -136,6 +136,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaTSS2Long",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
index 56491e3518..3099cf798d 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -2,13 +2,21 @@ from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.parameterized import parameterized, parameterized_class
 from openpilot.common.params import Params
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
 from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
+from openpilot.sunnypilot.selfdrive.car.interfaces import initialize_params
 
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
+class TestToyotaParamsHandoff(OpenpilotTestCase):
+  def test_tss2_long_tuning_param_is_forwarded_to_opendbc(self):
+    keys = {next(iter(entry)) for entry in initialize_params(Params())}
+    assert "ToyotaTSS2Long" in keys
+
+
 # TODO: test pcmCruise and pcmCruiseSpeed
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index a0957ee83c..b541dea21d 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2370,6 +2370,17 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
+        {
+          "key": "ToyotaTSS2Long",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: custom longitudinal for TSS2",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
         {
           "key": "ToyotaEnforceStockLongitudinal",
           "widget": "toggle",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
index 7dd23256b1..079efb0c0b 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -82,6 +82,12 @@ sections:
   title: Toyota / Lexus Settings
   description: ''
   items:
+  - key: ToyotaTSS2Long
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: custom longitudinal for TSS2'
+    enablement:
+    - $ref: '#/macros/not_engaged'
   - key: ToyotaEnforceStockLongitudinal
     widget: toggle
     needs_onroad_cycle: true