CarState: add low speed alert field (#33712)

* clean up mazda steer speed alert

* bump

cereal/car.capnp

@@ -207,6 +207,7 @@ struct CarState {
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
   vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
 
   # cruise state
   cruiseState @10 :CruiseState;

opendbc_repo

@@ -1 +1 @@
-Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770
+Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e

selfdrive/car/car_specific.py

@@ -45,7 +45,7 @@ class CarSpecificEvents:
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName == 'subaru':
+    elif self.CP.carName in ('subaru', 'mazda'):
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
@@ -54,12 +54,6 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'mazda':
-      events = self.create_common_events(CS.out, CS_prev)
-
-      if CS.low_speed_alert:  # type: ignore[attr-defined]
-        events.add(EventName.belowSteerSpeed)
-
     elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
 
@@ -212,6 +206,8 @@ class CarSpecificEvents:
       events.add(EventName.vehicleSensorsInvalid)
     if CS.invalidLkasSetting:
       events.add(EventName.invalidLkasSetting)
+    if CS.lowSpeedAlert:
+      events.add(EventName.belowSteerSpeed)
 
     # Handle button presses
     for b in CS.buttonEvents: