Toyota Door Auto Lock/Unlock - 2025/05/27

common/params_keys.h

@@ -140,4 +140,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_lon_no_gas_gating", PERSISTENT},
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
+    {"dp_toyota_door_auto_lock_unlock", PERSISTENT},
 };

opendbc_repo/opendbc/car/structs.py

@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
+  ToyotaDoorAutoLockUnlock = 2 ** 2
   pass

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -33,6 +33,17 @@ MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
 
+# Lock / unlock door commands - Credit goes to AlexandreSato!
+from common.conversions import Conversions as CV
+LOCK_SPEED = 20 * CV.KPH_TO_MS
+
+LOCK_UNLOCK_CAN_ID = 0x750
+UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00'
+LOCK_CMD = b'\x40\x05\x30\x11\x00\x80\x00\x00'
+
+from cereal import car
+PARK = car.CarState.GearShifter.park
+DRIVE = car.CarState.GearShifter.drive
 
 def get_long_tune(CP, params):
   if CP.carFingerprint in TSS2_CAR:
@@ -75,6 +86,8 @@ class CarController(CarControllerBase):
     self.secoc_lta_message_counter = 0
     self.secoc_prev_reset_counter = 0
 
+    self.doors_locked = False
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     stopping = actuators.longControlState == LongCtrlState.stopping
@@ -286,5 +299,13 @@ class CarController(CarControllerBase):
     new_actuators.steeringAngleDeg = self.last_angle
     new_actuators.accel = self.accel
 
+    if self.CP.flags & ToyotaFlags.DOOR_AUTO_LOCK_UNLOCK.value:
+      if not self.doors_locked and CS.out.gearShifter == DRIVE and CS.out.vEgo >= LOCK_SPEED:
+        can_sends.append(CanData(LOCK_UNLOCK_CAN_ID, LOCK_CMD, 0))
+        self.doors_locked = True
+      elif self.doors_locked and CS.out.gearShifter == PARK:
+        can_sends.append(CanData(LOCK_UNLOCK_CAN_ID, UNLOCK_CMD, 0))
+        self.doors_locked = False
+
     self.frame += 1
     return new_actuators, can_sends

opendbc_repo/opendbc/car/toyota/interface.py

@@ -151,6 +151,9 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & ToyotaFlags.HYBRID.value:
         ret.longitudinalActuatorDelay = 0.05
 
+    if dp_params & structs.DPFlags.ToyotaDoorAutoLockUnlock:
+      ret.flags |= ToyotaFlags.DOOR_AUTO_LOCK_UNLOCK.value
+
     return ret
 
   @staticmethod

opendbc_repo/opendbc/car/toyota/values.py

@@ -77,6 +77,7 @@ class ToyotaFlags(IntFlag):
   SECOC = 2048
 
   ALKA = 2 ** 12
+  DOOR_AUTO_LOCK_UNLOCK = 2 ** 13
 
 class Footnote(Enum):
   CAMRY = CarFootnote(

opendbc_repo/opendbc/safety/safety/safety_toyota.h

@@ -10,6 +10,7 @@
   TOYOTA_BASE_TX_MSGS \
   {0x2E4, 0, 5, true}, \
   {0x343, 0, 8, false},  /* ACC cancel cmd */  \
+  {0x750, 0, 8, false},  /* radar diagnostic address */                                                                                                                                             \
 
 #define TOYOTA_COMMON_SECOC_TX_MSGS \
   TOYOTA_BASE_TX_MSGS \
@@ -315,6 +316,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
   }
 
   // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
+  /*
   if (addr == 0x750) {
     // this address is sub-addressed. only allow tester present to radar (0xF)
     bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U);
@@ -322,6 +324,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       tx = 0;
     }
   }
+  */
 
   return tx;
 }

selfdrive/car/card.py

@@ -102,6 +102,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LateralALKA
 
+      if self.params.get_bool("dp_toyota_door_auto_lock_unlock"):
+        dp_params |= structs.DPFlags.ToyotaDoorAutoLockUnlock
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -7,6 +7,11 @@ void DPPanel::add_toyota_toggles() {
       QString::fromUtf8("🐉 ") + tr("Toyota / Lexus"),
       "",
     },
+    {
+      "dp_toyota_door_auto_lock_unlock",
+      tr("Enable Door Auto Lock/Unlock"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;

system/manager/manager.py

@@ -62,6 +62,7 @@ def manager_init() -> None:
     ("dp_lon_no_gas_gating", "0"),
     ("dp_device_auto_shutdown_in", "-5"),
     ("dp_ui_radar_tracks", "0"),
+    ("dp_toyota_door_auto_lock_unlock", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):