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acc

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This commit is contained in:
jakethesake420
2025-11-15 14:24:45 -06:00
parent 87ce3734ac
commit c572cb824a
3 changed files with 25 additions and 8 deletions
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opendbc/mazda_2023.dbc
+16 -7
View File
@@ -460,13 +460,22 @@ BO_ 537 MANUAL_GEAR: 8 XXX
SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
BO_ 542 ACC: 8 XXX
SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD : 23|13@0+ (1,-2000) [0|8191] "" XXX
SG_ NEW_SIGNAL_3 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_10 : 4|5@0+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_2 : 5|1@0+ (1,0) [0|7] "" XXX
SG_ ACTIVE_STOP : 6|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 7|1@0+ (1,0) [0|1] "" XXX
SG_ CTR : 11|4@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_5 : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_ACTIVE : 13|1@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_4 : 15|2@0+ (1,0) [0|3] "" XXX
SG_ ACCEL_CMD : 23|12@0+ (1,-2000) [0|8191] "" XXX
SG_ ACC_ACTIVE2 : 27|1@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_8 : 35|4@0+ (1,0) [0|15] "" XXX
SG_ CTR2 : 37|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_6 : 39|2@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|16777215] "" XXX
SG_ NEW_SIGNAL_9 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 543 NEW_MSG_21F: 8 XXX
SG_ NEW_SIGNAL_1 : 22|7@0+ (1,0) [0|127] "" XXX
panda/board/safety/safety_mazda.h
+1 -1
View File
@@ -274,7 +274,7 @@ static int mazda_fwd_hook(int bus, int addr) {
int bus_fwd = -1;
bool block = (addr == MAZDA_TI_LKAS);
if (bus == MAZDA_MAIN) {
block |= ((addr == MAZDA_2019_ACC) && gen2);
block |= ((addr == MAZDA_2019_ACC) && (gen2 || gen3));
if (!block) {
bus_fwd = MAZDA_CAM;
}
selfdrive/car/mazda/carcontroller.py
+8
View File
@@ -149,6 +149,14 @@ class CarController(CarControllerBase):
resume = self.resume_timer.active() # stay on for 0.5s to release the brake. This allows the car to move.
can_sends.append(mazdacan.create_acc_cmd(self, self.packer, CS.acc, hold, resume))
elif self.CP.flags & MazdaFlags.GEN3:
if Timer.interval(2):
raw_acc_output = (CC.actuators.accel * 240) + 2000
acc_output = raw_acc_output
if CC.longActive:
CS.acc["ACCEL_CMD"] = acc_output
can_sends.append(self.packer.make_can_msg("ACC", 2, CS.acc))
# send steering command
can_sends.extend(mazdacan.create_steering_control(self.packer, self.CP,
self.frame, apply_steer, CS.cam_lkas))