November 21st, 2024 Update

FrogAi · Nov 22, 2024 · 8ae097d · 8ae097d
1 parent be190fb
commit 8ae097d
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Showing 72 changed files with 1,278 additions and 542 deletions.
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},
@@ -306,7 +307,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DownloadAllModels", PERSISTENT},
     {"DragonRiderDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DragonRiderScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"DriveRated", CLEAR_ON_ONROAD_TRANSITION},
     {"DriverCamera", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DuckAmigoDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DuckAmigoScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -380,7 +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},
@@ -523,7 +523,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"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},

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