November 23rd, 2024 Patch

FrogAi · Nov 24, 2024 · 3d91aa3 · 3d91aa3
1 parent 07b6ac1
commit 3d91aa3
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Showing 127 changed files with 2,186 additions and 1,531 deletions.
diff --git a/README.md b/README.md
@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**November 10th, 2024**
+**November 23rd, 2024**
 
 Features
 ------

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @149;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -548,6 +549,9 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
@@ -51,7 +51,7 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerkStock @1 :Float32;
   adjustedCruise @2 :Float32;
   dangerJerk @3 :Float32;
-  desiredFollowDistance @4 :Float32;
+  desiredFollowDistance @4 :Int64;
   experimentalMode @5 :Bool;
   forcingStop @6 :Bool;
   forcingStopLength @7 :Float32;

diff --git a/common/params.cc b/common/params.cc
@@ -189,6 +189,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"RouteCount", PERSISTENT},
+    {"SecOCKey", PERSISTENT | DONT_LOG},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
@@ -253,9 +254,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CENavigationIntersections", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CENavigationLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CENavigationTurns", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"CertifiedHerbalistCalibrationParams", PERSISTENT},
     {"CertifiedHerbalistDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"CertifiedHerbalistLiveTorqueParameters", PERSISTENT},
     {"CertifiedHerbalistScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CESignalSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CESignalLaneDetection", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -294,9 +293,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableCurveSpeedSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
-    {"DissolvedOxygenCalibrationParams", PERSISTENT},
     {"DissolvedOxygenDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"DissolvedOxygenLiveTorqueParameters", PERSISTENT},
     {"DissolvedOxygenScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DistanceIconToDownload", PERSISTENT},
     {"DisengageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -308,11 +305,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DownloadableSounds", PERSISTENT},
     {"DownloadableWheels", PERSISTENT},
     {"DownloadAllModels", PERSISTENT},
-    {"DriveRated", CLEAR_ON_ONROAD_TRANSITION},
+    {"DragonRiderDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"DragonRiderScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DriverCamera", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"DuckAmigoCalibrationParams", PERSISTENT},
     {"DuckAmigoDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"DuckAmigoLiveTorqueParameters", PERSISTENT},
     {"DuckAmigoScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DynamicPathWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DynamicPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -352,6 +348,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HideMapIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideMaxSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
+    {"HideSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HolidayThemes", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HumanAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"HumanFollowing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -373,9 +370,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongitudinalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"LongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"LongPitch", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
-    {"LosAngelesCalibrationParams", PERSISTENT},
     {"LosAngelesDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"LosAngelesLiveTorqueParameters", PERSISTENT},
     {"LosAngelesScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"LoudBlindspotAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"LowVoltageShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -385,7 +380,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MapboxSecretKey", PERSISTENT},
     {"MapDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"MapGears", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"MapsSelected", PERSISTENT | FROGPILOT_OTHER},
+    {"MapsSelected", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
     {"MapSpeedLimit", PERSISTENT},
     {"MapStyle", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"MapTargetVelocities", PERSISTENT},
@@ -406,18 +401,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NextMapSpeedLimit", PERSISTENT},
     {"NewLongAPI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NewLongAPIGM", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
-    {"NewToyotaTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NNFF", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NNFFLite", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
     {"NoLogging", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NorthDakotaCalibrationParams", PERSISTENT},
     {"NorthDakotaDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NorthDakotaLiveTorqueParameters", PERSISTENT},
     {"NorthDakotaScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NotreDameCalibrationParams", PERSISTENT},
     {"NotreDameDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NotreDameLiveTorqueParameters", PERSISTENT},
     {"NotreDameScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NoUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NudgelessLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -449,14 +439,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"QOLLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"QOLVisuals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RadarlessModels", PERSISTENT},
-    {"RadicalTurtleCalibrationParams", PERSISTENT},
     {"RadicalTurtleDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"RadicalTurtleLiveTorqueParameters", PERSISTENT},
     {"RadicalTurtleScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"RandomEvents", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"RecertifiedHerbalistCalibrationParams", PERSISTENT},
     {"RecertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"RecertifiedHerbalistLiveTorqueParameters", PERSISTENT},
     {"RecertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"RefuseVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RelaxedFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -479,9 +465,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ScreenTimeout", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ScreenTimeoutOnroad", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"SearchInput", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
-    {"SecretGoodOpenpilotCalibrationParams", PERSISTENT},
     {"SecretGoodOpenpilotDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"SecretGoodOpenpilotLiveTorqueParameters", PERSISTENT},
     {"SecretGoodOpenpilotScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"SetSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SetSpeedOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -536,9 +520,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SteerRatioStock", PERSISTENT},
     {"StoppedTimer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"TacoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"TestingSound", PERSISTENT},
     {"TetheringEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
     {"ThemeDownloadProgress", PERSISTENT},
-    {"ThemeUpdated", PERSISTENT},
     {"ToyotaDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"TrafficFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"TrafficJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -562,9 +546,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"VoltSNG", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"WarningImmediateVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"WarningSoftVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"WD40CalibrationParams", PERSISTENT},
     {"WD40Drives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"WD40LiveTorqueParameters", PERSISTENT},
     {"WD40Score", PERSISTENT | FROGPILOT_CONTROLS},
     {"WheelIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"WheelSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},

diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc
@@ -197,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX

diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -197,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX