wip

selfdrive/car/mazda/carstate.py

@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -18,9 +18,16 @@ class CarState(CarStateBase):
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam, frogpilot_variables):
 
     ret = car.CarState.new_message()
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
+
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["FL"],
       cp.vl["WHEEL_SPEEDS"]["FR"],
@@ -103,6 +110,9 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = not self.lkas_disabled
+
     return ret
 
   @staticmethod
@@ -116,7 +126,7 @@ class CarState(CarStateBase):
       ("WHEEL_SPEEDS", 100),
     ]
 
-    if CP.carFingerprint in GEN1:
+    if CP.flags & MazdaFlags.GEN1:
       messages += [
         ("ENGINE_DATA", 100),
         ("CRZ_CTRL", 50),
@@ -136,7 +146,7 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint in GEN1:
+    if CP.flags & MazdaFlags.GEN1:
       messages += [
         # sig_address, frequency
         ("CAM_LANEINFO", 2),