From c572cb824ab7a710186ece5adb327f7eff6f5352 Mon Sep 17 00:00:00 2001 From: jakethesake420 Date: Sat, 15 Nov 2025 14:24:45 -0600 Subject: [PATCH] acc --- opendbc/mazda_2023.dbc | 23 ++++++++++++++++------- panda/board/safety/safety_mazda.h | 2 +- selfdrive/car/mazda/carcontroller.py | 8 ++++++++ 3 files changed, 25 insertions(+), 8 deletions(-) diff --git a/opendbc/mazda_2023.dbc b/opendbc/mazda_2023.dbc index b706aaf8c..814f7bb72 100644 --- a/opendbc/mazda_2023.dbc +++ b/opendbc/mazda_2023.dbc @@ -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 diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h index e081e2353..41075a529 100644 --- a/panda/board/safety/safety_mazda.h +++ b/panda/board/safety/safety_mazda.h @@ -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; } diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index ff3925e5b..784ba4208 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -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))