91 lines
2.5 KiB
Python
91 lines
2.5 KiB
Python
from dataclasses import dataclass, field
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from enum import StrEnum
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from typing import Dict, List, Union
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from cereal import car
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from openpilot.selfdrive.car import dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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# Steer torque limits
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class CarControllerParams:
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STEER_MAX = 800 # theoretical max_steer 2047
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STEER_DELTA_UP = 10 # torque increase per refresh
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STEER_DELTA_DOWN = 25 # torque decrease per refresh
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STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting
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STEER_DRIVER_MULTIPLIER = 1 # weight driver torque
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STEER_DRIVER_FACTOR = 1 # from dbc
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STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
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STEER_STEP = 1 # 100 Hz
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def __init__(self, CP):
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pass
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class CAR(StrEnum):
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CX5 = "MAZDA CX-5"
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CX9 = "MAZDA CX-9"
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MAZDA3 = "MAZDA 3"
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MAZDA6 = "MAZDA 6"
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CX9_2021 = "MAZDA CX-9 2021"
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CX5_2022 = "MAZDA CX-5 2022"
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@dataclass
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class MazdaCarInfo(CarInfo):
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package: str = "All"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
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CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
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CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
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CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
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CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
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CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
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CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
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CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
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}
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class LKAS_LIMITS:
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STEER_THRESHOLD = 15
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DISABLE_SPEED = 45 # kph
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ENABLE_SPEED = 52 # kph
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class Buttons:
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NONE = 0
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SET_PLUS = 1
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SET_MINUS = 2
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RESUME = 3
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CANCEL = 4
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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# TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
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Request(
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
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bus=0,
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),
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],
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)
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DBC = {
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CAR.CX5: dbc_dict('mazda_2017', None),
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CAR.CX9: dbc_dict('mazda_2017', None),
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CAR.MAZDA3: dbc_dict('mazda_2017', None),
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CAR.MAZDA6: dbc_dict('mazda_2017', None),
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CAR.CX9_2021: dbc_dict('mazda_2017', None),
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CAR.CX5_2022: dbc_dict('mazda_2017', None),
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}
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# Gen 1 hardware: same CAN messages and same camera
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GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022}
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