From 105295787ed88fd30ba7f7001cfd78d75afbacd5 Mon Sep 17 00:00:00 2001 From: Ryley Date: Fri, 22 Apr 2022 14:09:18 -0500 Subject: [PATCH] Added more radar singals --- opendbc/mazda_2017.dbc | 21 ++++++++++++++------- selfdrive/car/mazda/carstate.py | 16 +++++++++++----- selfdrive/car/mazda/mazdacan.py | 13 ++++++++++--- selfdrive/controls/controlsd.py | 2 +- 4 files changed, 36 insertions(+), 16 deletions(-) diff --git a/opendbc/mazda_2017.dbc b/opendbc/mazda_2017.dbc index f5e2ea7cb..5faaa7978 100644 --- a/opendbc/mazda_2017.dbc +++ b/opendbc/mazda_2017.dbc @@ -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 diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index de4ca89e7..dcd6d8f3e 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -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), diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index 48a369c38..f3b8fcca6 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -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"]), diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c25f5a870..d60abf2f7 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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