You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
34 lines
1.0 KiB
34 lines
1.0 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from openpilot.selfdrive.car import get_safety_config
|
|
from openpilot.selfdrive.car.conversions import Conversions as CV
|
|
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
|
|
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "mazda"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
|
|
ret.radarUnavailable = True
|
|
|
|
ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
|
|
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.steerLimitTimer = 0.8
|
|
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
if candidate not in (CAR.MAZDA_CX5_2022,):
|
|
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
|
|
|
|
ret.centerToFront = ret.wheelbase * 0.41
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def _update(self):
|
|
return self.CS.update(self.cp, self.cp_cam)
|
|
|