Controls - Experimental Mode Activation - Double Click LKAS

Enable/disable 'Experimental Mode' by double clicking the 'LKAS' button on your steering wheel.

opendbc/chrysler_pacifica_2017_hybrid_generated.dbc

@@ -312,6 +312,7 @@ BO_ 764 ACCEL_RELATED_2FC: 8 XXX
 BO_ 816 TRACTION_BUTTON: 8 XXX
  SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX
  SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ TOGGLE_LKAS : 53|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 878 ACCEL_RELATED_36E: 8 XXX
  SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX

opendbc/chrysler_ram_hd_generated.dbc

@@ -207,3 +207,9 @@ BO_ 630 LKAS_COMMAND: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 650 Center_Stack_2: 8 XXX
+ SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX
+
+BO_ 816 Center_Stack_1: 8 XXX
+ SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX
+ SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX

opendbc/hyundai_canfd.dbc

@@ -316,7 +316,7 @@ BO_ 441 CAM_0x1b9: 32 CAMERA
 
 BO_ 463 CRUISE_BUTTONS: 8 XXX
  SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
- SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LFA_BTN : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
  SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX

panda/python/__init__.py

@@ -212,6 +212,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
+  FLAG_HYUNDAI_LFA_BTN = 256
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2

selfdrive/car/chrysler/carstate.py

@@ -102,6 +102,13 @@ class CarState(CarStateBase):
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
+    # FrogPilot carstate functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in RAM_CARS:
+      self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"]
+    else:
+      self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1
+
     return ret, fp_ret
 
   @staticmethod
@@ -135,11 +142,14 @@ class CarState(CarStateBase):
         ("ESP_8", 50),
         ("EPS_3", 50),
         ("Transmission_Status", 50),
+        ("Center_Stack_1", 1),
+        ("Center_Stack_2", 1),
       ]
     else:
       messages += [
         ("GEAR", 50),
         ("SPEED_1", 100),
+        ("TRACTION_BUTTON", 1),
       ]
       messages += CarState.get_cruise_messages()
 

selfdrive/car/chrysler/interface.py

@@ -79,7 +79,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])

selfdrive/car/ford/carstate.py

@@ -107,6 +107,10 @@ class CarState(CarStateBase):
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
+    # FrogPilot carstate functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
+
     return ret, fp_ret
 
   @staticmethod

selfdrive/car/ford/interface.py

@@ -63,7 +63,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:

selfdrive/car/gm/carstate.py

@@ -172,6 +172,12 @@ class CarState(CarStateBase):
     # FrogPilot carstate functions
     fp_ret.hasCamera = not (self.CP.flags & GMFlags.NO_CAMERA.value) and self.CP.carFingerprint not in CC_ONLY_CAR
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in SDGM_CAR:
+      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    else:
+      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+
     return ret, fp_ret
 
   @staticmethod

selfdrive/car/gm/interface.py

@@ -310,7 +310,8 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
                               unpressed_btn=CruiseButtons.UNPRESS),
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
+                              {1: ButtonType.gapAdjustCruise}),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
       ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume

selfdrive/car/honda/carstate.py

@@ -273,6 +273,10 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
+    # FrogPilot carstate functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = self.cruise_setting == 1
+
     return ret, fp_ret
 
   def get_can_parser(self, CP):

selfdrive/car/honda/interface.py

@@ -258,6 +258,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
     ]
 
     # events

selfdrive/car/hyundai/carstate.py

@@ -171,6 +171,11 @@ class CarState(CarStateBase):
     if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
       self.main_enabled = not self.main_enabled
 
+    # FrogPilot carstate functions
+    if self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      self.lkas_previously_enabled = self.lkas_enabled
+      self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
+
     return ret, fp_ret
 
   def update_canfd(self, cp, cp_cam, frogpilot_variables):
@@ -257,6 +262,10 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
+    # FrogPilot carstate functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
+
     return ret, fp_ret
 
   def get_can_parser(self, CP):
@@ -306,6 +315,9 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
+    if CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      messages.append(("BCM_PO_11", 50))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod

selfdrive/car/hyundai/interface.py

@@ -127,6 +127,10 @@ class CarInterface(CarInterfaceBase):
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+      if 0x391 in fingerprint[0]:
+        ret.flags |= HyundaiFlags.CAN_LFA_BTN.value
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN
+
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
@@ -158,7 +162,10 @@ class CarInterface(CarInterfaceBase):
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+      ret.buttonEvents = [
+        *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+      ]
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons

selfdrive/car/hyundai/values.py

@@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  # FrogPilot HKG flags
+  CAN_LFA_BTN = 2 ** 24
 
 class Footnote(Enum):
   CANFD = CarFootnote(

selfdrive/car/interfaces.py

@@ -377,6 +377,10 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+    # FrogPilot variables
+    self.lkas_enabled = False
+    self.lkas_previously_enabled = False
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])

selfdrive/car/mazda/carstate.py

@@ -111,6 +111,10 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
+    # FrogPilot carstate functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = not self.lkas_disabled
+
     return ret, fp_ret
 
   @staticmethod

selfdrive/car/mazda/interface.py

@@ -36,7 +36,10 @@ class CarInterface(CarInterfaceBase):
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
      # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # events
     events = self.create_common_events(ret)

selfdrive/car/nissan/carstate.py

@@ -108,11 +108,6 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
-      self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
-    else:
-      self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
-
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 
     if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
@@ -122,6 +117,13 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
+    # FrogPilot carstate functions
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+    else:
+      self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+
     return ret, fp_ret
 
   @staticmethod

selfdrive/car/nissan/interface.py

@@ -33,7 +33,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret, fp_ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_variables)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 

selfdrive/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, CanBus, PREGLOBAL_CARS, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
 
 
@@ -126,6 +126,11 @@ class CarState(CarStateBase):
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
+    # FrogPilot carstate functions
+    if self.car_fingerprint not in PREGLOBAL_CARS:
+      self.lkas_previously_enabled = self.lkas_enabled
+      self.lkas_enabled = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"]
+
     return ret, fp_ret
 
   @staticmethod

selfdrive/car/subaru/interface.py

@@ -107,6 +107,10 @@ class CarInterface(CarInterfaceBase):
 
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
 
+    ret.buttonEvents = [
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
+
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret, fp_ret

selfdrive/car/subaru/values.py

@@ -224,6 +224,8 @@ class CAR(Platforms):
   )
 
 
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \

selfdrive/car/toyota/carstate.py

@@ -190,6 +190,10 @@ class CarState(CarStateBase):
         self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     # FrogPilot carstate functions
+    if self.CP.carFingerprint != CAR.PRIUS_V:
+      self.lkas_previously_enabled = self.lkas_enabled
+      message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
+      self.lkas_enabled = any(self.lkas_hud.get(key) == 1 for key in message_keys)
 
     # ZSS Support - Credit goes to the DragonPilot team!
     if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count < ZSS_THRESHOLD_COUNT:

selfdrive/car/toyota/interface.py

@@ -169,7 +169,10 @@ class CarInterface(CarInterfaceBase):
     ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
-      ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+      ret.buttonEvents = [
+        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+      ]
 
     # events
     events = self.create_common_events(ret)

selfdrive/controls/controlsd.py

@@ -950,6 +950,14 @@ class Controls:
         self.params_tracking.put_int_nonblocking("FrogPilotDrives", new_total_drives)
         self.drive_added = True
 
+    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents) and self.frogpilot_toggles.experimental_mode_via_lkas:
+      if self.frogpilot_toggles.conditional_experimental_mode:
+        conditional_status = self.params_memory.get_int("CEStatus")
+        override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4
+        self.params_memory.put_int("CEStatus", override_value)
+      else:
+        self.params.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
+
     fpcc_send = messaging.new_message('frogpilotCarControl')
     fpcc_send.valid = CS.canValid
     fpcc_send.frogpilotCarControl = self.FPCC