FrogPilot Setup

cereal/car.capnp

@@ -117,6 +117,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
 
+    # FrogPilot events
+
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
     radarCommIssueDEPRECATED @67;

cereal/custom.capnp

@@ -8,16 +8,16 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct FrogPilotCarControl @0x81c2f05a394cf4af {
 }
 
-struct CustomReserved1 @0xaedffd8f31e7b55d {
+struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct FrogPilotNavigation @0xf35cc4560bbf6ec2 {
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct FrogPilotPlan @0xda96579883444c35 {
 }
 
 struct CustomReserved4 @0x80ae746ee2596b11 {

cereal/log.capnp

@@ -731,6 +731,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     normal @0;       # low priority alert for user's convenience
     userPrompt @1;   # mid priority alert that might require user intervention
     critical @2;     # high priority alert that needs immediate user intervention
+    frogpilot @3;    # green startup alert
   }
 
   enum AlertSize {
@@ -2322,10 +2323,10 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
-    customReserved2 @109 :Custom.CustomReserved2;
-    customReserved3 @110 :Custom.CustomReserved3;
+    frogpilotCarControl @107 :Custom.FrogPilotCarControl;
+    frogpilotDeviceState @108 :Custom.FrogPilotDeviceState;
+    frogpilotNavigation @109 :Custom.FrogPilotNavigation;
+    frogpilotPlan @110 :Custom.FrogPilotPlan;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;

cereal/services.py

@@ -81,6 +81,12 @@ services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # FrogPilot
+  "frogpilotCarControl": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),