Jafar Al-Gharaibeh
6 years ago
committed by
Adeeb Shihadeh
parent
7961d5ffd7
commit
44c36ab275
8 changed files with 475 additions and 0 deletions
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from selfdrive.car.mazda import mazdacan |
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from selfdrive.car.mazda.values import DBC, SteerLimitParams |
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from opendbc.can.packer import CANPacker |
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from selfdrive.car import apply_std_steer_torque_limits |
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class CarController(): |
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def __init__(self, dbc_name, CP, VM): |
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self.steer_idx = 0 |
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self.apply_steer_last = 0 |
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self.packer = CANPacker(dbc_name) |
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self.steer_rate_limited = False |
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def update(self, enabled, CS, frame, actuators): |
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""" Controls thread """ |
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can_sends = [] |
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### STEER ### |
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if enabled and not CS.steer_not_allowed: |
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# calculate steer and also set limits due to driver torque |
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new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX)) |
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, |
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CS.out.steer_torque_driver, SteerLimitParams) |
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self.steer_rate_limited = new_steer != apply_steer |
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else: |
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apply_steer = 0 |
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self.steer_rate_limited = False |
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self.apply_steer_last = apply_steer |
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can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint, |
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frame, apply_steer, CS.cam_lkas)) |
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return can_sends |
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from cereal import car |
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from selfdrive.config import Conversions as CV |
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from opendbc.can.parser import CANParser |
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from selfdrive.car.interfaces import CarStateBase |
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from selfdrive.car.mazda.values import DBC, LKAS_LIMITS |
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GearShifter = car.CarState.GearShifter |
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class STEER_LKAS(): |
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def __init__(self): |
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self.block = 1 |
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self.track = 1 |
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self.handsoff = 0 |
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class CarState(CarStateBase): |
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def __init__(self, CP): |
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super().__init__(CP) |
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self.steer_lkas = STEER_LKAS() |
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self.acc_active_last = False |
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self.speed_kph = 0 |
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self.lkas_speed_lock = False |
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self.low_speed_lockout = True |
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self.low_speed_lockout_last = True |
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self.acc_press_update = False |
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def update(self, cp, cp_cam): |
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ret = car.CarState.new_message() |
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ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['FL'] * CV.KPH_TO_MS |
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ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]['FR'] * CV.KPH_TO_MS |
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ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]['RL'] * CV.KPH_TO_MS |
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ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['RR'] * CV.KPH_TO_MS |
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. |
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) |
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ret.standstill = ret.vEgoRaw < 0.01 |
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ret.gearShifter = GearShifter.drive |
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self.speed_kph = ret.vEgoRaw // CV.KPH_TO_MS |
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ret.leftBlinker = cp.vl["BLINK_INFO"]['LEFT_BLINK'] == 1 |
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ret.rightBlinker = cp.vl["BLINK_INFO"]['RIGHT_BLINK'] == 1 |
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ret.steeringAngle = cp.vl["STEER"]['STEER_ANGLE'] |
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ret.steeringTorque = cp.vl["STEER_TORQUE"]['STEER_TORQUE_SENSOR'] |
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ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD |
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self.steer_torque_motor = cp.vl["STEER_TORQUE"]['STEER_TORQUE_MOTOR'] |
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self.angle_steers_rate = cp.vl["STEER_RATE"]['STEER_ANGLE_RATE'] |
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# TODO: Find brake & brake pressure |
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ret.brake = 0 |
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self.brake_pressed = False #cp.vl["PEDALS"]['BREAK_PEDAL_1'] == 1 |
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ret.seatbeltUnlatched = cp.vl["SEATBELT"]['DRIVER_SEATBELT'] == 0 |
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ret.doorOpen = any([cp.vl["DOORS"]['FL'], |
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cp.vl["DOORS"]['FR'], |
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cp.vl["DOORS"]['BL'], |
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cp.vl["DOORS"]['BR']]) |
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ret.gasPressed = cp.vl["ENGINE_DATA"]['PEDAL_GAS'] > 0.0001 |
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#TODO get gear state |
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#ret.gearShifter |
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# No steer if block signal is on |
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self.steer_lkas.block = cp.vl["STEER_RATE"]['LKAS_BLOCK'] |
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# track driver torque, on if torque is not detected |
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self.steer_lkas.track = cp.vl["STEER_RATE"]['LKAS_TRACK_STATE'] |
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# On if no driver torque the last 5 seconds |
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self.steer_lkas.handsoff = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] |
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# LKAS is enabled at 50kph going up and disabled at 45kph going down |
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if self.speed_kph > LKAS_LIMITS.ENABLE_SPEED and self.low_speed_lockout: |
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self.low_speed_lockout = False |
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elif self.speed_kph < LKAS_LIMITS.DISABLE_SPEED and not self.low_speed_lockout: |
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self.low_speed_lockout = True |
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if (self.low_speed_lockout or self.steer_lkas.block) and self.speed_kph < LKAS_LIMITS.DISABLE_SPEED: |
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if not self.lkas_speed_lock: |
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self.lkas_speed_lock = True |
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elif self.lkas_speed_lock: |
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self.lkas_speed_lock = False |
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# if any of the cruize buttons is pressed force state update |
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if any([cp.vl["CRZ_BTNS"]['RES'], |
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cp.vl["CRZ_BTNS"]['SET_P'], |
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cp.vl["CRZ_BTNS"]['SET_M']]): |
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self.acc_active = True |
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ret.cruiseState.speed = self.speed_kph |
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if self.low_speed_lockout_last: |
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self.acc_press_update = True |
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elif self.acc_press_update: |
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self.acc_press_update = False |
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ret.cruiseState.available = cp.vl["CRZ_CTRL"]['CRZ_ACTIVE'] == 1 |
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if not ret.cruiseState.available: |
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self.acc_active = False |
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if self.acc_active != self.acc_active_last: |
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ret.cruiseState.speed = self.speed_kph |
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self.acc_active_last = self.acc_active |
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ret.cruiseState.enabled = self.acc_active |
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self.steer_error = False |
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self.brake_error = False |
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self.low_speed_lockout_last = self.low_speed_lockout |
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#self.steer_not_allowed = self.steer_lkas.block == 1 |
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self.cam_lkas = cp_cam.vl["CAM_LKAS"] |
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return ret |
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@staticmethod |
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def get_can_parser(CP): |
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# this function generates lists for signal, messages and initial values |
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signals = [ |
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# sig_name, sig_address, default |
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("LEFT_BLINK", "BLINK_INFO", 0), |
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("RIGHT_BLINK", "BLINK_INFO", 0), |
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("STEER_ANGLE", "STEER", 0), |
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("STEER_ANGLE_RATE", "STEER_RATE", 0), |
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("LKAS_BLOCK", "STEER_RATE", 0), |
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("LKAS_TRACK_STATE", "STEER_RATE", 0), |
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("HANDS_OFF_5_SECONDS", "STEER_RATE", 0), |
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("STEER_TORQUE_SENSOR", "STEER_TORQUE", 0), |
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("STEER_TORQUE_MOTOR", "STEER_TORQUE", 0), |
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("FL", "WHEEL_SPEEDS", 0), |
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("FR", "WHEEL_SPEEDS", 0), |
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("RL", "WHEEL_SPEEDS", 0), |
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("RR", "WHEEL_SPEEDS", 0), |
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("CRZ_ACTIVE", "CRZ_CTRL", 0), |
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("STANDSTILL","PEDALS", 0), |
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("BRAKE_ON","PEDALS", 0), |
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("GEAR","GEAR", 0), |
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("DRIVER_SEATBELT", "SEATBELT", 0), |
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("FL", "DOORS", 0), |
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("FR", "DOORS", 0), |
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("BL", "DOORS", 0), |
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("BR", "DOORS", 0), |
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("PEDAL_GAS", "ENGINE_DATA", 0), |
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("RES", "CRZ_BTNS", 0), |
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("SET_P", "CRZ_BTNS", 0), |
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("SET_M", "CRZ_BTNS", 0), |
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] |
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checks = [ |
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# sig_address, frequency |
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("BLINK_INFO", 10), |
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("STEER", 67), |
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("STEER_RATE", 83), |
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("STEER_TORQUE", 83), |
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("WHEEL_SPEEDS", 100), |
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("ENGINE_DATA", 100), |
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("CRZ_CTRL", 50), |
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("CRZ_BTNS", 10), |
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("PEDALS", 50), |
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("SEATBELT", 10), |
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("DOORS", 10), |
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("GEAR", 20), |
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] |
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0) |
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@staticmethod |
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def get_cam_can_parser(CP): |
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signals = [ |
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# sig_name, sig_address, default |
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("LKAS_REQUEST", "CAM_LKAS", 0), |
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("CTR", "CAM_LKAS", 0), |
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("ERR_BIT_1", "CAM_LKAS", 0), |
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("LDW", "CAM_LKAS", 0), |
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("LINE_NOT_VISIBLE", "CAM_LKAS", 0), |
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("BIT_1", "CAM_LKAS", 0), |
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("ERR_BIT_2", "CAM_LKAS", 0), |
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("BIT_2", "CAM_LKAS", 0), |
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("CHKSUM", "CAM_LKAS", 0), |
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] |
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checks = [ |
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# sig_address, frequency |
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("CAM_LKAS", 16), |
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] |
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2) |
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@ -0,0 +1,147 @@ |
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#!/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.controls.lib.drive_helpers import create_event, EventTypes as ET |
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from selfdrive.car.mazda.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, ECU |
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from selfdrive.car.mazda.carstate import CarState |
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected |
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from selfdrive.car.interfaces import CarInterfaceBase |
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class CanBus(): |
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def __init__(self): |
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self.powertrain = 0 |
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self.obstacle = 1 |
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self.cam = 2 |
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ButtonType = car.CarState.ButtonEvent.Type |
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class CarInterface(CarInterfaceBase): |
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def __init__(self, CP, CarController, CarState): |
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super().__init__(CP, CarController, CarState) |
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self.gas_pressed_prev = False |
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self.low_speed_alert = False |
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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(), has_relay=False, car_fw=[]): |
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ret = car.CarParams.new_message() |
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ret.carName = "mazda" |
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ret.radarOffCan = True |
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ret.carFingerprint = candidate |
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ret.isPandaBlack = has_relay |
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ret.safetyModel = car.CarParams.SafetyModel.mazda |
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ret.enableCruise = True |
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay |
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tire_stiffness_factor = 0.70 # not optimized yet |
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if candidate in [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.centerToFront = ret.wheelbase * 0.41 |
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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 = [[0.2], [0.2]] |
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ret.lateralTuning.pid.kf = 0.00006 |
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ret.steerLimitTimer = 0.8 |
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ret.steerActuatorDelay = 0.1 |
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ret.steerRateCost = 1.0 |
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ret.steerRatioRear = 0. |
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ret.steerControlType = car.CarParams.SteerControlType.torque |
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# steer limitations VS speed |
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ret.steerMaxBP = [0.] # m/s |
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ret.steerMaxV = [1.] |
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# No long control in Mazda |
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ret.gasMaxBP = [0.] |
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ret.gasMaxV = [0.] |
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ret.brakeMaxBP = [0.] |
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ret.brakeMaxV = [0.] |
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ret.longitudinalTuning.deadzoneBP = [0.] |
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ret.longitudinalTuning.deadzoneV = [0.] |
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ret.longitudinalTuning.kpBP = [0.] |
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ret.longitudinalTuning.kpV = [0.] |
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ret.longitudinalTuning.kiBP = [0.] |
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ret.longitudinalTuning.kiV = [0.] |
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ret.openpilotLongitudinalControl = False |
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ret.stoppingControl = False |
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ret.startAccel = 0.0 |
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this |
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# no steer below 45kph |
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ret.minSteerSpeed = 45 * CV.KPH_TO_MS |
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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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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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# TODO: button presses |
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ret.buttonEvents = [] |
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events = self.create_common_events(ret) |
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if ret.cruiseState.enabled and self.CS.lkas_speed_lock: |
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self.low_speed_alert = True |
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else: |
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self.low_speed_alert = False |
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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.append(create_event('speedTooLow', [ET.NO_ENTRY])) |
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if ret.cruiseState.enabled and not self.cruise_enabled_prev: |
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ret.cruiseState.enabled = False |
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if self.low_speed_alert: |
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events.append(create_event('belowSteerSpeed', [ET.WARNING])) |
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if self.CS.steer_lkas.handsoff: |
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING])) |
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if (ret.gasPressed and not self.gas_pressed_prev): |
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ret.cruiseState.enabled = False |
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ret.events = events |
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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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@ -0,0 +1,37 @@ |
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from selfdrive.car.mazda.values import CAR |
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def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): |
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tmp = apply_steer + 2048 |
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lo = tmp & 0xFF |
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hi = tmp >> 8 |
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b1 = int(lkas["BIT_1"]) |
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b2 = int(lkas[ "BIT_2"]) |
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ldw = int(lkas["LDW"]) |
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lnv = 0 #int(lkas["LINE_NOT_VISIBLE"]) |
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ctr = frame % 16 |
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csum = 241 - ctr - (hi - 8) - lo - (lnv << 3) - (b1 << 5) - (b2 << 1) - (ldw << 7) |
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if csum < 0: |
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csum = csum + 256 |
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csum = csum % 256 |
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if car_fingerprint == CAR.CX5: |
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values = { |
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"CTR" : ctr, |
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"LKAS_REQUEST" : apply_steer, |
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"BIT_1" : b1, |
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"BIT_2" : b2, |
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"LDW" : ldw, |
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"LINE_NOT_VISIBLE" : lnv, |
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"ERR_BIT_1" : 0, |
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"ERR_BIT_2" : 0, |
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"CHKSUM" : csum |
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} |
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return packer.make_can_msg("CAM_LKAS", 0, values) |
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@ -0,0 +1,6 @@ |
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#!/usr/bin/env python3 |
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from selfdrive.car.interfaces import RadarInterfaceBase |
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class RadarInterface(RadarInterfaceBase): |
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pass |
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@ -0,0 +1,45 @@ |
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from selfdrive.car import dbc_dict |
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# Steer torque limits |
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class SteerLimitParams: |
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STEER_MAX = 600 # max_steer 2048 |
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STEER_STEP = 1 # how often we update the steer cmd |
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STEER_DELTA_UP = 10 # torque increase per refresh |
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STEER_DELTA_DOWN = 20 # 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 heavily |
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STEER_DRIVER_FACTOR = 1 # from dbc |
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class CAR: |
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CX5 = "Mazda CX-5 GT 2017" |
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class LKAS_LIMITS: |
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STEER_THRESHOLD = 20 |
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DISABLE_SPEED = 45 |
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ENABLE_SPEED = 50 |
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FINGERPRINTS = { |
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CAR.CX5: [ |
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# CX-5 2017 GT |
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{ |
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64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8 |
||||
}, |
||||
# CX-5 2019 GTR |
||||
{ |
||||
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 254: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 736: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1171: 8, 1173: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1244: 8, 1260: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8, 1776: 8, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 |
||||
} |
||||
], |
||||
} |
||||
|
||||
class ECU: |
||||
CAM = 0 |
||||
|
||||
ECU_FINGERPRINT = { |
||||
ECU.CAM: [579], # steer torque cmd |
||||
} |
||||
|
||||
|
||||
DBC = { |
||||
CAR.CX5: dbc_dict('mazda_cx5_gt_2017', None), |
||||
} |
||||
Loading…
Reference in new issue