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73 lines
2.4 KiB
73 lines
2.4 KiB
#!/usr/bin/env python3
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from cereal import car
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from common.conversions import Conversions as CV
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from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
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from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "mazda"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
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ret.radarUnavailable = True
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ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.8
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tire_stiffness_factor = 0.70 # not optimized yet
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate in (CAR.CX5, CAR.CX5_2022):
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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.steerRatio = 15.5
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elif candidate in (CAR.CX9, CAR.CX9_2021):
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ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 3.1
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ret.steerRatio = 17.6
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elif candidate == CAR.MAZDA3:
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ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 14.0
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elif candidate == CAR.MAZDA6:
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ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.steerRatio = 15.5
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if candidate not in (CAR.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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# 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):
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ret = self.CS.update(self.cp, self.cp_cam)
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# events
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events = self.create_common_events(ret)
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if self.CS.lkas_disabled:
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events.add(EventName.lkasDisabled)
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elif self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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