Always on Lateral

Added toggle for Always On Lateral / No disengage lateral on gas and brake.

Lots of credit goes to "pfeiferj"! Couldn't of done it without him!

https: //github.com/pfeiferj/openpilot
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>

panda/board/safety/safety_chrysler.h

@@ -185,6 +185,7 @@ static void chrysler_rx_hook(CANPacket_t *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
   if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
+    acc_main_on = GET_BIT(to_push, 20U) == 1U;
     bool cruise_engaged = GET_BIT(to_push, 21U) == 1U;
     pcm_cruise_check(cruise_engaged);
   }

panda/board/safety/safety_ford.h

@@ -250,6 +250,7 @@ static void ford_rx_hook(CANPacket_t *to_push) {
 
       // Signal: CcStat_D_Actl
       unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
+      acc_main_on = (cruise_state == 3U) ||(cruise_state == 4U) || (cruise_state == 5U);
       bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
       pcm_cruise_check(cruise_engaged);
     }

panda/board/safety/safety_gm.h

@@ -127,6 +127,10 @@ static void gm_rx_hook(CANPacket_t *to_push) {
       brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
 
+    if (addr == 0xC9) {
+      acc_main_on = GET_BIT(to_push, 29U) != 0U;
+    }
+
     if (addr == 0x1C4) {
       gas_pressed = GET_BYTE(to_push, 5) != 0U;
 

panda/board/safety/safety_honda.h

@@ -331,7 +331,8 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
 
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
-    if (!controls_allowed) {
+    bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS);
+    if (!(controls_allowed || aol_allowed)) {
       bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
       if (steer_applied) {
         tx = false;

panda/board/safety/safety_hyundai_common.h

@@ -63,6 +63,10 @@ void hyundai_common_cruise_state_check(const int cruise_engaged) {
 }
 
 void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
+  if (main_button != 0 && main_button != cruise_main_prev) {
+    acc_main_on = !acc_main_on;
+  }
+  cruise_main_prev = main_button;
   if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
       (main_button != 0)) {
     hyundai_last_button_interaction = 0U;

panda/board/safety/safety_mazda.h

@@ -52,6 +52,7 @@ static void mazda_rx_hook(CANPacket_t *to_push) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MAZDA_CRZ_CTRL) {
+      acc_main_on = GET_BIT(to_push, 17U);
       bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
       pcm_cruise_check(cruise_engaged);
     }

panda/board/safety/safety_nissan.h

@@ -21,6 +21,8 @@ const CanMsg NISSAN_TX_MSGS[] = {
 
 // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
 RxCheck nissan_rx_checks[] = {
+  {.msg = {{0x1b6, 0, 8, .frequency = 100U},
+         {0x1b6, 1, 8, .frequency = 100U}, { 0 }}},  // PRO_PILOT (100HZ)
   {.msg = {{0x2, 0, 5, .frequency = 100U},
            {0x2, 1, 5, .frequency = 100U}, { 0 }}},  // STEER_ANGLE_SENSOR
   {.msg = {{0x285, 0, 8, .frequency = 50U},
@@ -64,11 +66,16 @@ static void nissan_rx_hook(CANPacket_t *to_push) {
       UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6);
     }
 
+    if (addr == 0x1b6) {
+      acc_main_on = GET_BIT(to_push, 36U);
+    }
+
     // X-Trail 0x15c, Leaf 0x239
     if ((addr == 0x15c) || (addr == 0x239)) {
       if (addr == 0x15c){
         gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
       } else {
+        acc_main_on = GET_BIT(to_push, 17U);
         gas_pressed = GET_BYTE(to_push, 0) > 3U;
       }
     }

panda/board/safety/safety_subaru.h

@@ -152,6 +152,7 @@ static void subaru_rx_hook(CANPacket_t *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
+    acc_main_on = GET_BIT(to_push, 40U) != 0U;
     bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
     pcm_cruise_check(cruise_engaged);
   }

panda/board/safety/safety_subaru_preglobal.h

@@ -56,6 +56,7 @@ static void subaru_preglobal_rx_hook(CANPacket_t *to_push) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MSG_SUBARU_PG_CruiseControl) {
+      acc_main_on = GET_BIT(to_push, 48U) != 0U;
       bool cruise_engaged = GET_BIT(to_push, 49U) != 0U;
       pcm_cruise_check(cruise_engaged);
     }

panda/board/safety/safety_tesla.h

@@ -88,6 +88,14 @@ static void tesla_rx_hook(CANPacket_t *to_push) {
     if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
       // Cruise state
       int cruise_state = (GET_BYTE(to_push, 1) >> 4);
+
+      acc_main_on = (cruise_state == 1) ||  // STANDBY
+        (cruise_state == 2) ||  // ENABLED
+        (cruise_state == 3) ||  // STANDSTILL
+        (cruise_state == 4) ||  // OVERRIDE
+        (cruise_state == 6) ||  // PRE_FAULT
+        (cruise_state == 7);    // PRE_CANCEL
+
       bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
                             (cruise_state == 3) ||  // STANDSTILL
                             (cruise_state == 4) ||  // OVERRIDE

panda/board/safety/safety_toyota.h

@@ -47,6 +47,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
   {0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8},  /* DSU bus 0 */  \
   {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4},  /* DSU bus 1 */                                               \
   {0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + ACC */                               \
+  {0x1D3, 0, 8},                                                                                                                            \
 
 const CanMsg TOYOTA_TX_MSGS[] = {
   TOYOTA_COMMON_TX_MSGS
@@ -61,6 +62,7 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}},                        \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}},  \
   {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
+  {.msg = {{0x1D3, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
   {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
            {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}},                               \
 
@@ -166,6 +168,9 @@ static void toyota_rx_hook(CANPacket_t *to_push) {
         update_sample(&angle_meas, angle_meas_new);
       }
     }
+    if (addr == 0x1D3) {
+      acc_main_on = GET_BIT(to_push, 15U);
+    }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     // exit controls on rising edge of gas press