回放

opendbc_repo/opendbc/car/mazda/carstate.py

@@ -24,6 +24,7 @@ class CarState(CarStateBase):
 
     self.prev_distance_button = 0
     self.distance_button = 0
+    self.pcmCruiseGap = 0 # copy from Hyundai
 
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -61,6 +62,12 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEAR"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
     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.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0

selfdrive/ui/soundd.py

@@ -130,7 +130,7 @@ class Soundd:
       if self.lang == "main_ko":
         wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
       else:
-        wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds_eng/" + filename, 'r')
+        wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds_chs/" + filename, 'r')
 
       #assert wavefile.getnchannels() == 1
       assert wavefile.getsampwidth() == 2