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106 lines
3.7 KiB
106 lines
3.7 KiB
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "mazda"
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ret.safetyModel = car.CarParams.SafetyModel.mazda
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ret.dashcamOnly = True
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ret.radarOffCan = True
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ret.steerActuatorDelay = 0.1
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ret.steerRateCost = 1.0
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ret.steerLimitTimer = 0.8
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tire_stiffness_factor = 0.70 # not optimized yet
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if candidate == CAR.CX5:
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ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 15.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate == CAR.CX9:
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ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 3.1
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ret.steerRatio = 17.6
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate == CAR.MAZDA3:
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ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 14.0
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate == CAR.MAZDA6:
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ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.steerRatio = 15.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
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ret.lateralTuning.pid.kf = 0.00006
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# No steer below disable speed
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ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
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ret.centerToFront = ret.wheelbase * 0.41
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.enableCamera = True
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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# events
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events = self.create_common_events(ret)
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if self.CS.low_speed_lockout:
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events.add(EventName.belowEngageSpeed)
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if self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators)
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self.frame += 1
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return can_sends
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