openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/car/mazda/interface.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = car.CarEvent.EventName
+
+class CarInterface(CarInterfaceBase):
+
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "mazda"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
+    ret.radarUnavailable = True
+
+    ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
+
+    ret.steerActuatorDelay = 0.1
+    ret.steerLimitTimer = 0.8
+    ret.tireStiffnessFactor = 0.70   # not optimized yet
+
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    if candidate in (CAR.CX5, CAR.CX5_2022):
+      ret.mass = 3655 * CV.LB_TO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 15.5
+    elif candidate in (CAR.CX9, CAR.CX9_2021):
+      ret.mass = 4217 * CV.LB_TO_KG
+      ret.wheelbase = 3.1
+      ret.steerRatio = 17.6
+    elif candidate == CAR.MAZDA3:
+      ret.mass = 2875 * CV.LB_TO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 14.0
+    elif candidate == CAR.MAZDA6:
+      ret.mass = 3443 * CV.LB_TO_KG
+      ret.wheelbase = 2.83
+      ret.steerRatio = 15.5
+
+    if candidate not in (CAR.CX5_2022, ):
+      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
+
+    ret.centerToFront = ret.wheelbase * 0.41
+
+    return ret
+
+  # returns a car.CarState
+  def _update(self, c):
+    ret = self.CS.update(self.cp, self.cp_cam)
+
+    # events
+    events = self.create_common_events(ret)
+
+    if self.CS.lkas_disabled:
+      events.add(EventName.lkasDisabled)
+    elif self.CS.low_speed_alert:
+      events.add(EventName.belowSteerSpeed)
+
+    ret.events = events.to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)