Mazda: use cruise speed signal from PCM (#22345)

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: b170c1f4e1

selfdrive/car/mazda/carstate.py

@@ -64,15 +64,9 @@ class CarState(CarStateBase):
     elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
       self.lkas_allowed = False
 
-    # if any of the cruize buttons is pressed force state update
-    if any([cp.vl["CRZ_BTNS"]["RES"],
-                cp.vl["CRZ_BTNS"]["SET_P"],
-                cp.vl["CRZ_BTNS"]["SET_M"]]):
-      self.cruise_speed = ret.vEgoRaw
-
-    ret.cruiseState.available = True
+    ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
     ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
-    ret.cruiseState.speed = self.cruise_speed
+    ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
 
     if ret.cruiseState.enabled:
       if not self.lkas_allowed:
@@ -126,6 +120,8 @@ class CarState(CarStateBase):
         ("LKAS_TRACK_STATE", "STEER_RATE", 0),
         ("HANDS_OFF_5_SECONDS", "STEER_RATE", 0),
         ("CRZ_ACTIVE", "CRZ_CTRL", 0),
+        ("CRZ_AVAILABLE", "CRZ_CTRL", 0),
+        ("CRZ_SPEED", "CRZ_EVENTS", 0),
         ("STANDSTILL", "PEDALS", 0),
         ("BRAKE_ON", "PEDALS", 0),
         ("BRAKE_PRESSURE", "BRAKE", 0),
@@ -148,6 +144,7 @@ class CarState(CarStateBase):
       checks += [
         ("ENGINE_DATA", 100),
         ("CRZ_CTRL", 50),
+        ("CRZ_EVENTS", 50),
         ("CRZ_BTNS", 10),
         ("PEDALS", 50),
         ("BRAKE", 50),