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This commit is contained in:
jakethesake420
2025-11-15 13:05:09 -06:00
parent 55c938270b
commit 09dfccf638
2 changed files with 23 additions and 17 deletions
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panda/board/safety/safety_mazda.h
+22 -16
View File
@@ -118,9 +118,9 @@ RxCheck mazda_2019_rx_checks[] = {
RxCheck mazda_2023_rx_checks[] = {
{.msg = {{MAZDA_2023_BRAKE, 0, 8, .frequency = 5U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2019_GAS, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2019_CRUISE, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2023_SPEED, 0, 8, .frequency = 30U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2019_GAS, 2, 8, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2019_CRUISE, 1, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2023_SPEED, 2, 8, .frequency = 30U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_2019_STEER_TORQUE, 1, 8, .frequency = 50U}, { 0 }, { 0 }}},
};
@@ -179,26 +179,14 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
generic_rx_checks(addr == MAZDA_2019_SPEED);
}
if (gen3) {
if (addr == MAZDA_2019_GAS) {
gas_pressed = (GET_BYTE(to_push, 4) || ((GET_BYTE(to_push, 5) & 0xC0U)));
}
if (addr == MAZDA_2023_BRAKE) {
brake_pressed = (GET_BYTE(to_push, 7) & 0x8U);
}
if (addr == MAZDA_2019_CRUISE) {
uint8_t state = GET_BYTE(to_push, 0) & 0x70U;
bool cruise_engaged = (0x30U == state);
bool cruise_ready = (0x20U == state);
bool cruise_override = (0x40U == state);
//bool cruise_disable = (state == 0x10U);
acc_main_on = cruise_ready;
pcm_cruise_check(cruise_engaged || cruise_override);
}
if (addr == MAZDA_2023_SPEED) {
int speed = ( (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1)) ) - 10000; // Front Left Wheel Speed
vehicle_moving = speed != 0;
}
generic_rx_checks(addr == 0x219);
generic_rx_checks(false);
}
}
@@ -211,6 +199,18 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
if (addr == MAZDA_2019_STEER_TORQUE && (gen2 || gen3)) {
update_sample(&torque_driver, (int16_t)(GET_BYTE(to_push, 0) << 8 | GET_BYTE(to_push, 1)));
}
if (gen3) {
if (addr == MAZDA_2019_CRUISE) {
uint8_t state = GET_BYTE(to_push, 0) & 0x70U;
bool cruise_engaged = (0x30U == state);
bool cruise_ready = (0x20U == state);
bool cruise_override = (0x40U == state);
//bool cruise_disable = (state == 0x10U);
acc_main_on = cruise_ready;
pcm_cruise_check(cruise_engaged || cruise_override);
}
}
}
if ((GET_BUS(to_push) == MAZDA_CAM)) {
@@ -226,6 +226,12 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
}
generic_rx_checks(addr == MAZDA_2019_CRUISE);
}
if (gen3) {
if (addr == MAZDA_2019_GAS) {
gas_pressed = (GET_BYTE(to_push, 4) || ((GET_BYTE(to_push, 5) & 0xC0U)));
}
generic_rx_checks(false);
}
}
}
selfdrive/car/mazda/carstate.py
+1 -1
View File
@@ -39,7 +39,7 @@ class CarState(CarStateBase):
self.update = self.update_gen1
if CP.flags & MazdaFlags.GEN1:
self.update = self.update_gen1
if CP.flags & MazdaFlags.GEN2 or CP.flags & MazdaFlags.GEN3:
if CP.flags & MazdaFlags.GEN2 or CP.flags & MazdaFlags.GEN3:
self.update = self.update_gen2
def update_gen1(self, cp, cp_cam, cp_body, frogpilot_variables):