Merge branch 'master' into dev-priv/master

# Conflicts:
#	selfdrive/car/interfaces.py

selfdrive/car/gm/carstate.py

@@ -35,6 +35,7 @@ class CarState(CarStateBase):
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    self.gap_dist_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
     self.prev_mads_enabled = self.mads_enabled
@@ -157,6 +158,7 @@ class CarState(CarStateBase):
       ("ACCButtons", "ASCMSteeringButton"),
       ("LKAButton", "ASCMSteeringButton", 0),
       ("RollingCounter", "ASCMSteeringButton"),
+      ("DistanceButton", "ASCMSteeringButton"),
       ("SteeringWheelAngle", "PSCMSteeringAngle"),
       ("SteeringWheelRate", "PSCMSteeringAngle"),
       ("FLWheelSpd", "EBCMWheelSpdFront"),

selfdrive/car/interfaces.py

@@ -502,6 +502,7 @@ class CarStateBase(ABC):
     self.mads_enabled = False
     self.prev_mads_enabled = False
     self.control_initialized = False
+    self.gap_dist_button = 0
 
     # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
     # R = 0.3

selfdrive/car/toyota/carstate.py

@@ -150,6 +150,10 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
       self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
+      self.gap_dist_button = cp_cam.vl["ACC_CONTROL"]["DISTANCE"]
+
+    if self.CP.flags & ToyotaFlags.SMART_DSU:
+      self.gap_dist_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -368,6 +372,10 @@ class CarState(CarStateBase):
         ("PRE_COLLISION", 33),
       ]
 
+    if CP.flags & ToyotaFlags.SMART_DSU:
+       signals.append(("FD_BUTTON", "SDSU", 0))
+       checks.append(("SDSU", 33))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
@@ -413,6 +421,7 @@ class CarState(CarStateBase):
         ("FORCE", "PRE_COLLISION"),
         ("ACC_TYPE", "ACC_CONTROL"),
         ("FCW", "ACC_HUD"),
+        ("DISTANCE", 'ACC_CONTROL'),
       ]
       checks += [
         ("PRE_COLLISION", 33),

selfdrive/car/toyota/interface.py

@@ -199,6 +199,8 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
     # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
     smartDsu = 0x2FF in fingerprint[0]
+    if smartDsu:
+      ret.flags |= ToyotaFlags.SMART_DSU.value
     # In TSS2 cars the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu

selfdrive/car/toyota/values.py

@@ -34,6 +34,8 @@ class CarControllerParams:
 class ToyotaFlags(IntFlag):
   HYBRID = 1
 
+  SMART_DSU = 2
+
 
 class CAR:
   # Toyota

selfdrive/car/volkswagen/carstate.py

@@ -142,6 +142,7 @@ class CarState(CarStateBase):
     ret.rightBlinker = ret.rightBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
     ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
     self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
+    self.gap_dist_button = pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"]
 
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
@@ -251,6 +252,7 @@ class CarState(CarStateBase):
                                                                                                                       pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
     ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
     self.gra_stock_values = pt_cp.vl["GRA_Neu"]
+    self.gap_dist_button = pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"]
 
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])