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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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33
selfdrive/car/mazda/interface.py
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@@ -1,17 +1,18 @@
#!/usr/bin/env python3
from cereal import car
from cereal import car, custom
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 import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarUnavailable = True
@@ -20,27 +21,9 @@ class CarInterface(CarInterfaceBase):
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
@@ -52,8 +35,14 @@ class CarInterface(CarInterfaceBase):
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
# TODO: add button types for inc and dec
ret.buttonEvents = [
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
# events
events = self.create_common_events(ret, frogpilot_variables)
events = self.create_common_events(ret)
if self.CS.lkas_disabled:
events.add(EventName.lkasDisabled)