Experimental Mode activation via steering wheel / onroad UI

Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.

selfdrive/car/gm/carstate.py

@@ -152,6 +152,20 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
+      if self.CP.carFingerprint in SDGM_CAR:
+        lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
+      else:
+        lkas_pressed = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+
+      if lkas_pressed and not self.lkas_previously_pressed:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_lkas()
+        else:
+          self.fpf.update_experimental_mode()
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   @staticmethod