mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-10-10 08:14:03 +08:00
Code Issues Packages Projects Releases Wiki Activity

mazda 2023 can

Browse Source
This commit is contained in:
MoreTore
2025-11-15 11:49:42 -06:00
parent 4312c6a5ba
commit 8ae0ba23c4
2 changed files with 23 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/board/drivers/can_common.h
+8 -5
View File
@@ -197,10 +197,9 @@ void can_set_forwarding(uint8_t from, uint8_t to) {
void ignition_can_hook(CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
if (bus == 0) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
@@ -226,9 +225,13 @@ void ignition_can_hook(CANPacket_t *to_push) {
ignition_can_cnt = 0U;
}
} else if (bus == 1) {
// Mazda 2019 exception
if ((addr == 0x274) && (len == 8)) {
ignition_can = (GET_BYTE(to_push, 5) & 0x4U) != 0U;
ignition_can_cnt = 0U;
}
} else if (bus == 2) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
// GM exception, SDGM cars have this message on bus 2
if ((addr == 0x1F1) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
selfdrive/car/mazda/carstate.py
+15 -8
View File
@@ -387,11 +387,16 @@ class CarState(CarStateBase):
("GEAR", 40),
]
if CP.flags & MazdaFlags.GEN3:
if CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
messages += [
("MANUAL_GEAR", 50),
]
messages += [
# sig_address, frequency
("CRZ_BTNS", 10)
("BLINK_INFO", 10),
("STEER", 67),
("STEER_RATE", 83),
("STEER_TORQUE", 83),
("WHEEL_SPEEDS", 100),
("SYSTEM_SETTINGS", 2),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
@@ -399,7 +404,9 @@ class CarState(CarStateBase):
def get_body_can_parser(CP):
messages = CarState.get_ti_messages(CP)
if CP.flags & MazdaFlags.GEN3:
messages += [
("SYSTEM_SETTINGS", 2),
]
if CP.flags & MazdaFlags.MANUAL_TRANSMISSION:
messages += [
("MANUAL_GEAR", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)