Controls - Quality of Life - Map Acceleration Profiles To Gears

Map your acceleration/deceleration profile to your 'Eco' and/or 'Sport' gears.

Co-Authored-By: CHaucke89 <132518562+chaucke89@users.noreply.github.com>
Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>

opendbc/gm_global_a_powertrain_volt.dbc

@@ -188,6 +188,9 @@ BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
  SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
  SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 500 SportMode: 6 XXX
+ SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 501 ECMPRDNL2: 8 K20_ECM
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO

opendbc/toyota_nodsu_pt_generated.dbc

@@ -246,6 +246,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
  SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
  SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
  SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
  SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
  SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
 
@@ -528,6 +529,7 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
 VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
 VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
 VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
 VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
 VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";

selfdrive/car/gm/carstate.py

@@ -172,6 +172,8 @@ class CarState(CarStateBase):
     # FrogPilot carstate functions
     fp_ret.hasCamera = not (self.CP.flags & GMFlags.NO_CAMERA.value) and self.CP.carFingerprint not in CC_ONLY_CAR
 
+    fp_ret.sportGear = pt_cp.vl["SportMode"]["SportMode"] == 1
+
     self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint in SDGM_CAR:
       self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
@@ -217,6 +219,7 @@ class CarState(CarStateBase):
       ("EBCMFrictionBrakeStatus", 20),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
+      ("SportMode", 0),
     ]
 
     if CP.carFingerprint in SDGM_CAR:

selfdrive/car/hyundai/carstate.py

@@ -55,6 +55,9 @@ class CarState(CarStateBase):
     # FrogPilot variables
     self.main_enabled = False
 
+    self.active_mode = 0
+    self.drive_mode_prev = 0
+
   def update(self, cp, cp_cam, frogpilot_variables):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam, frogpilot_variables)
@@ -269,6 +272,15 @@ class CarState(CarStateBase):
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
 
+    drive_mode = cp.vl["DRIVE_MODE"]["DRIVE_MODE2"]
+
+    if drive_mode != 0 and drive_mode != self.drive_mode_prev:
+      self.active_mode = drive_mode if drive_mode in (2, 3) else 1
+      self.drive_mode_prev = drive_mode
+
+    fp_ret.ecoGear = self.active_mode == 2
+    fp_ret.sportGear = self.active_mode == 3
+
     self.lkas_previously_enabled = self.lkas_enabled
     self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
 
@@ -357,6 +369,7 @@ class CarState(CarStateBase):
       ("CRUISE_BUTTONS_ALT", 50),
       ("BLINKERS", 4),
       ("DOORS_SEATBELTS", 4),
+      ("DRIVE_MODE", 0),
     ]
 
     if CP.flags & HyundaiFlags.EV:

selfdrive/car/toyota/carstate.py

@@ -190,6 +190,9 @@ class CarState(CarStateBase):
         self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     # FrogPilot carstate functions
+    fp_ret.ecoGear = cp.vl["GEAR_PACKET"]['ECON_ON'] == 1
+    fp_ret.sportGear = cp.vl["GEAR_PACKET"]['SPORT_ON_2' if self.CP.flags & ToyotaFlags.NO_DSU else 'SPORT_ON'] == 1
+
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_previously_enabled = self.lkas_enabled
       message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -85,6 +85,15 @@ class FrogPilotPlanner:
     lead_distance = self.lead_one.dRel - distance_offset
     stopping_distance = STOP_DISTANCE + distance_offset
 
+    eco_gear = carState.gearShifter == GearShifter.eco or frogpilotCarState.ecoGear
+    sport_gear = carState.gearShifter == GearShifter.sport or frogpilotCarState.sportGear
+
+    if frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
+      if eco_gear:
+        self.max_accel = get_max_accel_eco(v_ego)
+      elif sport_gear:
+        self.max_accel = get_max_accel_sport(v_ego)
+    else:
       if frogpilot_toggles.acceleration_profile == 1:
         self.max_accel = get_max_accel_eco(v_ego)
       elif frogpilot_toggles.acceleration_profile in (2, 3):
@@ -98,7 +107,13 @@ class FrogPilotPlanner:
       self.min_accel = ACCEL_MIN
     elif v_cruise_changed:
       self.min_accel = A_CRUISE_MIN
-    elif frogpilot_toggles.deceleration_profile == 1:
+    elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
+      if eco_gear:
+        self.min_accel = get_min_accel_eco(v_ego)
+      elif sport_gear:
+        self.min_accel = get_min_accel_sport(v_ego)
+    else:
+      if frogpilot_toggles.deceleration_profile == 1:
         self.min_accel = get_min_accel_eco(v_ego)
       elif frogpilot_toggles.deceleration_profile == 2:
         self.min_accel = get_min_accel_sport(v_ego)