Pedal interceptor longitudinal control

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>

selfdrive/car/gm/carstate.py

@@ -9,6 +9,7 @@ from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRES
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+GearShifter = car.CarState.GearShifter
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
 
@@ -27,6 +28,7 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
 
     # FrogPilot variables
+    self.single_pedal_mode = False
 
   def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_variables):
     ret = car.CarState.new_message()
@@ -80,10 +82,15 @@ class CarState(CarStateBase):
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
       ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
+      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
 
-    ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
-    threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
-    ret.gasPressed = ret.gas > threshold
+    if self.CP.enableGasInterceptor:
+      ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
+      threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
+      ret.gasPressed = ret.gas > threshold
+    else:
+      ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
+      ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
     ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
@@ -233,13 +240,21 @@ class CarState(CarStateBase):
       ]
 
     if CP.transmissionType == TransmissionType.direct:
-      messages.append(("EBCMRegenPaddle", 50))
+      messages += [
+        ("EBCMRegenPaddle", 50),
+        ("EVDriveMode", 0),
+      ]
 
     if CP.carFingerprint in CC_ONLY_CAR:
       messages += [
         ("ECMCruiseControl", 10),
       ]
 
+    if CP.enableGasInterceptor:
+      messages += [
+        ("GAS_SENSOR", 50),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
 
   @staticmethod