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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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10
selfdrive/car/mazda/mazdacan.py
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@@ -1,7 +1,7 @@
from openpilot.selfdrive.car.mazda.values import GEN1, Buttons
from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
def create_steering_control(packer, CP, frame, apply_steer, lkas):
tmp = apply_steer + 2048
@@ -45,7 +45,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
csum = csum % 256
values = {}
if car_fingerprint in GEN1:
if CP.flags & MazdaFlags.GEN1:
values = {
"LKAS_REQUEST": apply_steer,
"CTR": ctr,
@@ -88,12 +88,12 @@ def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool)
return packer.make_can_msg("CAM_LANEINFO", 0, values)
def create_button_cmd(packer, car_fingerprint, counter, button):
def create_button_cmd(packer, CP, counter, button):
can = int(button == Buttons.CANCEL)
res = int(button == Buttons.RESUME)
if car_fingerprint in GEN1:
if CP.flags & MazdaFlags.GEN1:
values = {
"CAN_OFF": can,
"CAN_OFF_INV": (can + 1) % 2,