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carstate switch bus

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This commit is contained in:
jakethesake420
2025-11-15 12:11:45 -06:00
parent 811c96979b
commit 18258ae7d9
1 changed files with 14 additions and 14 deletions
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selfdrive/car/mazda/carstate.py
+14 -14
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@@ -226,34 +226,34 @@ class CarState(CarStateBase):
fp_ret = custom.FrogPilotCarState.new_message()
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["FL"],
cp.vl["WHEEL_SPEEDS"]["FR"],
cp.vl["WHEEL_SPEEDS"]["RL"],
cp.vl["WHEEL_SPEEDS"]["RR"],
cp_body.vl["WHEEL_SPEEDS"]["FL"],
cp_body.vl["WHEEL_SPEEDS"]["FR"],
cp_body.vl["WHEEL_SPEEDS"]["RL"],
cp_body.vl["WHEEL_SPEEDS"]["RR"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) # Doesn't match cluster speed exactly
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(100, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(100, cp_body.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
cp_body.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
ret.engineRpm = cp.vl["ENGINE_DATA"]["RPM"]
ret.engineRpm = cp_body.vl["ENGINE_DATA"]["RPM"]
#self.shifting = cp_cam.vl["GEAR"]["SHIFT"]
#self.torque_converter_lock = cp_cam.vl["GEAR"]["TORQUE_CONVERTER_LOCK"]
ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
ret.steeringAngleDeg = cp_body.vl["STEER"]["STEER_ANGLE"]
ret.steeringTorque = cp_body.vl["EPS_FEEDBACK"]["STEER_TORQUE_SENSOR"]
ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"]
unit_conversion = CV.MPH_TO_MS if cp_body.vl["SYSTEM_SETTINGS"]["IMPERIAL_UNIT"] else CV.KPH_TO_MS
unit_conversion = CV.MPH_TO_MS if cp.vl["SYSTEM_SETTINGS"]["IMPERIAL_UNIT"] else CV.KPH_TO_MS
ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_DRIVER_ALLOWANCE
if self.CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
can_gear = int(cp_cam.vl["MANUAL_GEAR"]["GEAR"])
can_gear = int(cp_body.vl["MANUAL_GEAR"]["GEAR"])
else:
can_gear = int(cp.vl["GEAR"]["GEAR"])
can_gear = int(cp_body.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.gasPressed = ret.gas > 0
ret.seatbeltUnlatched = False # Cruise will not engage if seatbelt is unlatched (handled by car)
@@ -264,9 +264,9 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = False # TODO locate signal. Car shows light on dash if there is a fault
ret.standstill = ret.vEgoRaw < 0.1
ret.cruiseState.speed = cp.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion
ret.cruiseState.enabled = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] >= 3)
ret.cruiseState.available = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2)
ret.cruiseState.speed = cp_body.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion
ret.cruiseState.enabled = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 3)
ret.cruiseState.available = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2)
ret.cruiseState.standstill = ret.standstill
self.cp = cp