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32 lines
1.1 KiB
32 lines
1.1 KiB
#!/usr/bin/env python3
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from opendbc.car import get_safety_config, structs
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.mazda.carcontroller import CarController
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from opendbc.car.mazda.carstate import CarState
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from opendbc.car.mazda.values import CAR, LKAS_LIMITS
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
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ret.brand = "mazda"
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
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ret.radarUnavailable = True
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ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.8
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate not in (CAR.MAZDA_CX5_2022,):
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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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return ret
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