IQ.Pilot Release Commit @ 5bc9cd3

2026-08-22 23:42:42 -05:00
commit d037016281
4504 changed files with 1129827 additions and 0 deletions
--- a/iqdbc_repo/iqdbc/safety/aol/aol_declarations.h
+++ b/iqdbc_repo/iqdbc/safety/aol/aol_declarations.h
@@ -0,0 +1,117 @@
+/*
+ * Copyright © IQ.Lvbs, a part of Project Teal Lvbs.
+ * All Rights Reserved.
+ * Licensed under: https://konn3kt.com/tos
+ */
+
+#pragma once
+
+// ===============================
+// Type Definitions and Enums
+// ===============================
+
+typedef enum __attribute__((packed)) {
+  AOL_BUTTON_UNAVAILABLE = -1,  ///< Button state cannot be determined
+  AOL_BUTTON_NOT_PRESSED = 0,   ///< Button is not pressed
+  AOL_BUTTON_PRESSED = 1        ///< Button is pressed
+} ButtonState;
+
+typedef enum __attribute__((packed)) {
+  AOL_EDGE_NO_CHANGE = 0,  ///< No state change detected
+  AOL_EDGE_RISING = 1,     ///< State changed from false to true
+  AOL_EDGE_FALLING = 2     ///< State changed from true to false
+} EdgeTransition;
+
+typedef enum __attribute__((packed)) {
+  AOL_DISENGAGE_REASON_NONE = 0,                         ///< No disengagement
+  AOL_DISENGAGE_REASON_BRAKE = 1,                        ///< Brake pedal pressed
+  AOL_DISENGAGE_REASON_LAG = 2,                          ///< System lag detected
+  AOL_DISENGAGE_REASON_BUTTON = 4,                       ///< User button press
+  AOL_DISENGAGE_REASON_ACC_MAIN_OFF = 8,                 ///< ACC system turned off
+  AOL_DISENGAGE_REASON_NON_PCM_ACC_MAIN_DESYNC = 16,     ///< ACC sync error
+  AOL_DISENGAGE_REASON_HEARTBEAT_ENGAGED_MISMATCH = 32,  ///< Heartbeat mismatch
+  AOL_DISENGAGE_REASON_STEERING_DISENGAGE = 64,          ///< Steering disengage
+} DisengageReason;
+
+// ===============================
+// Constants and Defines
+// ===============================
+
+#define ALT_EXP_ENABLE_AOL 1024
+#define ALT_EXP_AOL_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_AOL_PAUSE_LATERAL_ON_BRAKE 4096
+
+#define MISMATCH_DEFAULT_THRESHOLD 25
+
+// ===============================
+// Data Structures
+// ===============================
+
+typedef struct {
+  DisengageReason active_reason;    // The reason that actually disengaged controls
+  DisengageReason pending_reasons;  // All conditions that would've prevented engagement while controls were disengaged
+} DisengageState;
+
+typedef struct {
+  ButtonState current;
+  ButtonState last;
+  EdgeTransition transition;
+} ButtonStateTracking;
+
+typedef struct {
+  EdgeTransition transition;
+  bool current : 1;
+  bool previous : 1;
+} BinaryStateTracking;
+
+typedef struct {
+  bool is_vehicle_moving : 1;
+
+  ButtonStateTracking aol_button;
+  BinaryStateTracking acc_main;
+  BinaryStateTracking op_controls_allowed;
+  BinaryStateTracking braking;
+  BinaryStateTracking aol_steering_disengage;
+
+  DisengageState current_disengage;
+
+  bool system_enabled : 1;
+  bool disengage_lateral_on_brake : 1;
+  bool pause_lateral_on_brake : 1;
+  bool controls_requested_lat : 1;
+  bool controls_allowed_lat : 1;
+} AOLState;
+
+// ===============================
+// Global Variables
+// ===============================
+
+extern ButtonState aol_button_press;
+extern AOLState m_aol_state;
+
+// state for aol controls_allowed_lat timeout logic
+extern bool heartbeat_engaged_aol;
+extern uint32_t heartbeat_engaged_aol_mismatches;
+
+// ===============================
+// External Function Declarations (kept as needed)
+// ===============================
+
+extern void aol_set_system_state(bool enabled, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
+extern void aol_set_alternative_experience(const int *mode);
+extern void aol_state_update(bool op_vehicle_moving, bool op_acc_main, bool op_allowed, bool is_braking, bool steering_disengage);
+extern void aol_exit_controls(DisengageReason reason);
+extern bool aol_is_lateral_control_allowed_by_aol(void);
+extern void aol_heartbeat_engaged_check(void);
+
+// ===============================
+// Inline Function Implementations, must be included in the header file to comply with MISRA-C:2012 Rule 8.10
+// These are really only used internally.
+// ===============================
+extern EdgeTransition m_get_edge_transition(bool current, bool last);
+extern void m_aol_state_init(void);
+extern void m_update_button_state(ButtonStateTracking *button_state);
+extern void m_update_binary_state(BinaryStateTracking *state);
+extern void m_update_control_state(void);
+
+extern bool is_lat_active(void);