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fix mazda gen1

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MoreTorque
2026-03-01 08:41:30 -06:00
committed by MoreTore
parent fa764d8049
commit d7e08a7447
3 changed files with 19 additions and 7 deletions
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panda/board/safety/safety_mazda.h
+10 -1
View File
@@ -101,6 +101,15 @@ RxCheck mazda_rx_checks[] = {
};
RxCheck mazda_ti_rx_checks[] = {
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_PEDALS, 0, 8, .frequency = 50U}, { 0 }, { 0 }}},
{.msg = {{TI_STEER_TORQUE, 1, 8, .frequency = 50U}, { 0 }, { 0 }}},
};
RxCheck mazda_ti_no_mrcc_rx_checks[] = {
{.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}},
{.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}},
@@ -314,7 +323,7 @@ static safety_config mazda_init(uint16_t param) {
} else if (radar_interceptor) {
SET_TX_MSGS(MAZDA_RI_TX_MSGS, ret);
} else if (torque_interceptor) {
SET_RX_CHECKS(mazda_ti_rx_checks, ret);
SET_RX_CHECKS(no_mrcc ? mazda_ti_no_mrcc_rx_checks : mazda_ti_rx_checks, ret);
SET_TX_MSGS(MAZDA_TI_TX_MSGS, ret);
} else {
SET_TX_MSGS(MAZDA_TX_MSGS, ret);
selfdrive/car/mazda/carcontroller.py
+5 -2
View File
@@ -159,8 +159,11 @@ class CarController(CarControllerBase):
can_sends.append(mazdacan.create_acc_cmd(self, self.packer, CS.acc, hold, resume))
# send steering command
can_sends.extend(mazdacan.create_steering_control(self.packer, self.CP,
self.frame, apply_steer, CS.cam_lkas))
can_sends.extend(mazdacan.create_steering_control(
self.packer, self.CP,
self.frame, apply_steer, CS.cam_lkas,
ti_apply_steer if CP.flags & MazdaSafetyFlags.TORQUE_INTERCEPTOR else None
))
new_actuators = CC.actuators.as_builder()
new_actuators.steer = apply_steer / self.ccp.STEER_MAX
selfdrive/car/mazda/mazdacan.py
+4 -4
View File
@@ -1,7 +1,7 @@
from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
from openpilot.common.numpy_fast import clip
def create_steering_control(packer, CP, frame, apply_steer, lkas):
def create_steering_control(packer, CP, frame, apply_steer, lkas, ti_apply_steer = None):
msgs = []
if CP.flags & MazdaFlags.GEN1:
if not CP.flags & MazdaFlags.NO_FSC:
@@ -59,10 +59,10 @@ def create_steering_control(packer, CP, frame, apply_steer, lkas):
}
msgs.append(packer.make_can_msg("CAM_LKAS", 0, values))
if CP.flags & MazdaFlags.TORQUE_INTERCEPTOR:
if ti_apply_steer is not None:
values = {
"LKAS_REQUEST" : apply_steer,
"CHKSUM" : apply_steer,
"LKAS_REQUEST" : ti_apply_steer,
"CHKSUM" : ti_apply_steer,
"KEY" : 3294744160
}
msgs.append(packer.make_can_msg("CAM_LKAS2", 1, values))