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Mazda Values

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MoreTore
2025-04-26 12:38:34 -05:00
parent abe13c9c3c
commit 73572ca7b8
1 changed files with 85 additions and 18 deletions
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selfdrive/car/mazda/values.py
+85 -18
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@@ -13,18 +13,38 @@ Ecu = car.CarParams.Ecu
# Steer torque limits
class CarControllerParams:
STEER_MAX = 800 # theoretical max_steer 2047
STEER_DELTA_UP = 10 # torque increase per refresh
STEER_DELTA_DOWN = 25 # torque decrease per refresh
STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting
STEER_DRIVER_MULTIPLIER = 1 # weight driver torque
STEER_DRIVER_FACTOR = 1 # from dbc
STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
STEER_STEP = 1 # 100 Hz
def __init__(self, CP):
pass
self.STEER_STEP = 1 # 100 Hz
if CP.flags & MazdaFlags.GEN1:
self.STEER_MAX = 600 # theoretical max_steer 2047
self.STEER_DELTA_UP = 10 # torque increase per refresh
self.STEER_DELTA_DOWN = 25 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 40 # weight driver torque
self.STEER_DRIVER_FACTOR = 1 # from dbc
self.STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
self.TI_STEER_MAX = 600 # theoretical max_steer 2047
self.TI_STEER_DELTA_UP = 6 # torque increase per refresh
self.TI_STEER_DELTA_DOWN = 15 # torque decrease per refresh
self.TI_STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting
self.TI_STEER_DRIVER_MULTIPLIER = 40 # weight driver torque
self.TI_STEER_DRIVER_FACTOR = 1 # from dbc
self.TI_STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
if CP.flags & MazdaFlags.GEN2:
self.STEER_MAX = 8000
self.STEER_DELTA_UP = 45 # torque increase per refresh
self.STEER_DELTA_DOWN = 80 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 1400 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 5 # weight driver torque
self.STEER_DRIVER_FACTOR = 1 # from dbc
self.STEER_ERROR_MAX = 3500 # max delta between torque cmd and torque motor
class TI_STATE:
DISCOVER = 0
OFF = 1
DRIVER_OVER = 2
RUN = 3
@dataclass
class MazdaCarDocs(CarDocs):
@@ -41,38 +61,69 @@ class MazdaFlags(IntFlag):
# Static flags
# Gen 1 hardware: same CAN messages and same camera
GEN1 = 1
GEN2 = 2
TORQUE_INTERCEPTOR = 4
RADAR_INTERCEPTOR = 8
NO_FSC = 16
NO_MRCC = 32
MANUAL_TRANSMISSION = 64
@dataclass
class MazdaPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None))
flags: int = MazdaFlags.GEN1
def init(self):
if self.flags & MazdaFlags.GEN2:
self.dbc_dict = dbc_dict('mazda_2019', None)
elif self.flags & MazdaFlags.GEN1 and self.flags & MazdaFlags.RADAR_INTERCEPTOR:
self.dbc_dict = dbc_dict('mazda_2017', 'mazda_radar')
class CAR(Platforms):
MAZDA_CX5 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-5 2017-21")],
MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5),
flags=MazdaFlags.GEN1
)
MAZDA_CX9 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-9 2016-20")],
MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6),
flags=MazdaFlags.GEN1,
)
MAZDA_3 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda 3 2017-18")],
MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0),
flags=MazdaFlags.GEN1,
)
MAZDA_6 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda 6 2017-20")],
MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5),
flags=MazdaFlags.GEN1,
)
MAZDA_CX9_2021 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
MAZDA_CX9.specs
MAZDA_CX9.specs,
flags=MazdaFlags.GEN1,
)
MAZDA_CX5_2022 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-5 2022-24")],
MAZDA_CX5.specs,
flags=MazdaFlags.GEN1,
)
MAZDA_3_2019 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda 3 2019-24")],
MazdaCarSpecs(mass=3000 * CV.LB_TO_KG, wheelbase=2.725, steerRatio=18.8),
flags=MazdaFlags.GEN2,
)
MAZDA_CX_30 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-30 2019-24")],
MazdaCarSpecs(mass=3375 * CV.LB_TO_KG, wheelbase=2.814, steerRatio=15.5),
flags=MazdaFlags.GEN2,
)
MAZDA_CX_50 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-50 2022-24")],
MazdaCarSpecs(mass=3375 * CV.LB_TO_KG, wheelbase=2.814, steerRatio=15.5),
flags=MazdaFlags.GEN2,
)
@@ -80,7 +131,9 @@ class LKAS_LIMITS:
STEER_THRESHOLD = 15
DISABLE_SPEED = 45 # kph
ENABLE_SPEED = 52 # kph
TI_STEER_THRESHOLD = 6
TI_DISABLE_SPEED = 0 # kph
TI_ENABLE_SPEED = 0 # kph
class Buttons:
NONE = 0
@@ -88,6 +141,7 @@ class Buttons:
SET_MINUS = 2
RESUME = 3
CANCEL = 4
TURN_ON = 5
FW_QUERY_CONFIG = FwQueryConfig(
@@ -98,7 +152,20 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine],
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
bus=0,
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
)
],
)
DBC = CAR.create_dbc_map()
GEN1 = CAR.with_flags(MazdaFlags.GEN1)
GEN2 = CAR.with_flags(MazdaFlags.GEN2)