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Added more radar singals

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This commit is contained in:
Ryley
2022-04-22 14:09:18 -05:00
parent 05bbd08ed3
commit 105295787e
4 changed files with 36 additions and 16 deletions
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opendbc/mazda_2017.dbc
+14 -7
View File
@@ -552,9 +552,12 @@ BO_ 870 RADAR_366: 8 XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 867 RADAR_363: 8 XXX
SG_ STATIC_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ STATIC_2 : 39|7@0+ (1,0) [0|127] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ STATIC_1 : 43|16@0+ (1,0) [0|255] "" XXX
SG_ OBJ_DIST : 7|12@0+ (1,0) [0|255] "" XXX
SG_ OBJ_ANG : 11|12@0- (1,0) [0|255] "" XXX
SG_ OBJ_RELV : 31|12@0- (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 35|8@0+ (1,0) [0|15] "" XXX
BO_ 868 RADAR_364: 8 XXX
SG_ STATIC_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
@@ -567,11 +570,15 @@ BO_ 869 RADAR_365: 8 XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 866 RADAR_362: 8 XXX
SG_ STATIC_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ STATIC_2 : 36|3@0+ (1,0) [0|7] "" XXX
SG_ STATIC_3 : 33|4@0+ (1,0) [0|15] "" XXX
SG_ STEER_ANGLE : 43|12@0- (1,0) [0|4095] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
SG_ STEER_ANGLE : 43|12@0+ (-1,2048) [0|7] "" XXX
SG_ STATIC_2 : 63|4@0+ (1,0) [0|15] "" XXX
SG_ FLIPPY_1 : 44|1@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_1 : 34|3@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 33|4@0+ (1,0) [0|3] "" XXX
SG_ OBJ_DIST : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ OBJ_ANG : 11|12@0- (1,0) [0|127] "" XXX
SG_ OBJ_RVEL : 31|11@0- (1,0) [0|63] "" XXX
BO_ 121 EPB: 8 XXX
SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
selfdrive/car/mazda/carstate.py
+11 -5
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@@ -108,7 +108,7 @@ class CarState(CarStateBase):
self.cam_lkas = cp_cam.vl["CAM_LKAS"]
self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
ret.steerError = False
self.cp_cam = cp_cam
self.cp = cp
@@ -265,14 +265,20 @@ class CarState(CarStateBase):
]
signals += [
("STEER_ANGLE", "RADAR_362", 0),
("STATIC_1", "RADAR_362", 0),
("FLIPPY_1","RADAR_362", 0),
("STATIC_2", "RADAR_362", 0),
("STATIC_3", "RADAR_362", 0),
("CTR", "RADAR_362", 0),
("NEW_SIGNAL_2","RADAR_362", 0),
("NEW_SIGNAL_1","RADAR_362", 0),
("OBJ_DIST","RADAR_362", 0),
("OBJ_ANG ","RADAR_362", 0),
("OBJ_RVEL","RADAR_362", 0),
]
signals += [
("STATIC_1", "RADAR_363", 0),
("STATIC_2", "RADAR_363", 0),
("OBJ_DIST", "RADAR_363", 0),
("OBJ_ANG", "RADAR_363", 0),
("OBJ_RELV", "RADAR_363", 0),
("NEW_SIGNAL_1", "RADAR_363", 0),
]
signals += [
("STATIC_1", "RADAR_364", 0),
selfdrive/car/mazda/mazdacan.py
+10 -3
View File
@@ -202,13 +202,20 @@ def create_radar_command(packer, car_fingerprint, frame, c, CS):
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STEER_ANGLE" : int(CS.cp_cam.vl["RADAR_362"]["STEER_ANGLE"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_362"]["STATIC_1"]),
"STATIC_2" : int(CS.cp_cam.vl["RADAR_362"]["STATIC_2"]),
"STATIC_3" : int(CS.cp_cam.vl["RADAR_362"]["STATIC_3"])
"FLIPPY_1" : int(CS.cp_cam.vl["RADAR_362"]["FLIPPY_1"]),
"NEW_SIGNAL_1" : int(CS.cp_cam.vl["RADAR_362"]["NEW_SIGNAL_1"]),
"NEW_SIGNAL_2" : int(CS.cp_cam.vl["RADAR_362"]["NEW_SIGNAL_2"]),
"OBJ_DIST" : int(CS.cp_cam.vl["RADAR_362"]["OBJ_DIST"]),
"OBJ_ANG" : int(CS.cp_cam.vl["RADAR_362"]["OBJ_ANG"]),
"OBJ_RVEL" : int(CS.cp_cam.vl["RADAR_362"]["OBJ_RVEL"]),
}
values_363 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_363"]["STATIC_1"]),
"STATIC_2" : int(CS.cp_cam.vl["RADAR_363"]["STATIC_2"])
"OBJ_DIST" : int(CS.cp_cam.vl["RADAR_363"]["OBJ_DIST"]),
"OBJ_ANG" : int(CS.cp_cam.vl["RADAR_363"]["OBJ_ANG"]),
"OBJ_RELV" : int(CS.cp_cam.vl["RADAR_363"]["OBJ_RELV"]),
"NEW_SIGNAL_1" : int(CS.cp_cam.vl["RADAR_363"]["NEW_SIGNAL_1"]),
}
values_364 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -671,7 +671,7 @@ class Controls:
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_error_counter
controlsState.canErrorCounter = 0
if self.joystick_mode:
controlsState.lateralControlState.debugState = lac_log