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mazda

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机械小鸽 2025-06-14 15:09:27 +08:00 committed by GitHub
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commit 0f8a46cfd6
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1 changed files with 11 additions and 4 deletions
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opendbc_repo/opendbc/car/mazda/carstate.py
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@ -21,9 +21,10 @@ class CarState(CarStateBase):
self.low_speed_alert = False self.low_speed_alert = False
self.lkas_allowed_speed = False self.lkas_allowed_speed = False
self.lkas_disabled = False self.lkas_disabled = False
self.prev_distance_button = 0 self.prev_distance_button = 0
self.distance_button = 0 self.distance_button = 0
self.pcmCruiseGap = 0 # copy from Hyundai
def update(self, can_parsers) -> structs.CarState: def update(self, can_parsers) -> structs.CarState:
cp = can_parsers[Bus.pt] cp = can_parsers[Bus.pt]
@ -33,7 +34,7 @@ class CarState(CarStateBase):
self.prev_distance_button = self.distance_button self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"] self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
self.prev_cruise_buttons = self.cruise_buttons self.prev_cruise_buttons = self.cruise_buttons
if bool(cp.vl["CRZ_BTNS"]["SET_P"]): if bool(cp.vl["CRZ_BTNS"]["SET_P"]):
@ -44,7 +45,7 @@ class CarState(CarStateBase):
self.cruise_buttons = Buttons.RESUME self.cruise_buttons = Buttons.RESUME
else: else:
self.cruise_buttons = Buttons.NONE self.cruise_buttons = Buttons.NONE
ret.wheelSpeeds = self.get_wheel_speeds( ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["FL"], cp.vl["WHEEL_SPEEDS"]["FL"],
cp.vl["WHEEL_SPEEDS"]["FR"], cp.vl["WHEEL_SPEEDS"]["FR"],
@ -61,6 +62,12 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEAR"]["GEAR"]) can_gear = int(cp.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.gearStep = cp.vl["GEAR"]["GEAR_BOX"] ret.gearStep = cp.vl["GEAR"]["GEAR_BOX"]
ret.engineRpm = cp.vl["ENGINE_DATA"]["RPM"] # for mazda RPM
# 将CAN总线上的DISTANCE_SETTING值转换为与车辆显示一致的值
can_distance_setting = cp.vl["CRZ_CTRL"]["DISTANCE_SETTING"]
# 假设最大值为4，使用5减去CAN值来获取正确的显示值
ret.pcmCruiseGap = 5 - can_distance_setting if 1 <= can_distance_setting <= 4 else can_distance_setting
ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"]) ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0 ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
@ -135,7 +142,7 @@ class CarState(CarStateBase):
self.lkas_previously_enabled = self.lkas_enabled self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = not self.lkas_disabled self.lkas_enabled = not self.lkas_disabled
# TODO: add button types for inc and dec # TODO: add button types for inc and dec
#ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}) #ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
ret.buttonEvents = [ ret.buttonEvents = [