Refactor longcontrol (commaai#355)

* Bring starting back

* Add starting params

car.capnp

@@ -340,8 +340,7 @@ struct CarControl {
       off @0;
       pid @1;
       stopping @2;
-
-      startingDEPRECATED @3;
+      starting @3;
     }
 
   }
@@ -462,11 +461,13 @@ struct CarParams {
   vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
   vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
   stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
@@ -656,7 +657,6 @@ struct CarParams {
   safetyModelDEPRECATED @9 :SafetyModel;
   safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
   minSpeedCanDEPRECATED @51 :Float32;
-  startAccelDEPRECATED @32 :Float32;
   communityFeatureDEPRECATED @46: Bool;
   startingAccelRateDEPRECATED @53 :Float32;
 }