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104 lines
2.9 KiB
104 lines
2.9 KiB
from dataclasses import dataclass, field
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from enum import IntFlag
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, 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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@dataclass
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class MazdaCarDocs(CarDocs):
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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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@dataclass(frozen=True, kw_only=True)
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class MazdaCarSpecs(CarSpecs):
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tireStiffnessFactor: float = 0.7 # not optimized yet
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class MazdaFlags(IntFlag):
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# Static flags
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# Gen 1 hardware: same CAN messages and same camera
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GEN1 = 1
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@dataclass
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class MazdaPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None))
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flags: int = MazdaFlags.GEN1
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class CAR(Platforms):
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MAZDA_CX5 = MazdaPlatformConfig(
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[MazdaCarDocs("Mazda CX-5 2017-21")],
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MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
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)
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MAZDA_CX9 = MazdaPlatformConfig(
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[MazdaCarDocs("Mazda CX-9 2016-20")],
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MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
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)
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MAZDA_3 = MazdaPlatformConfig(
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[MazdaCarDocs("Mazda 3 2017-18")],
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MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
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)
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MAZDA_6 = MazdaPlatformConfig(
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[MazdaCarDocs("Mazda 6 2017-20")],
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MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
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)
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MAZDA_CX9_2021 = MazdaPlatformConfig(
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[MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
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MAZDA_CX9.specs
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)
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MAZDA_CX5_2022 = MazdaPlatformConfig(
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[MazdaCarDocs("Mazda CX-5 2022-24")],
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MAZDA_CX5.specs,
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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 = CAR.create_dbc_map()
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