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Mazda steering rate signal

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This commit is contained in:
jakethesake420
2025-04-27 12:22:09 -05:00
committed by MoreTore
parent f6b51165df
commit f3de4edb1b
2 changed files with 9 additions and 8 deletions
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opendbc/mazda_2019.dbc
+6 -6
View File
@@ -159,10 +159,10 @@ BO_ 129 NEW_MSG_19: 8 XXX
SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
BO_ 130 STEER_ANGLE: 8 XXX
SG_ STEER_ANGLE : 23|16@0+ (1,0) [0|65535] "" XXX
BO_ 130 STEER: 8 XXX
SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [0|65535] "" XXX
SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 55|16@0- (1,0) [0|65535] "" XXX
SG_ STEER_RATE : 55|16@0- (0.03,0) [0|65535] "" XXX
BO_ 133 NEW_MSG_35: 8 XXX
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
@@ -185,7 +185,7 @@ BO_ 133 NEW_MSG_35: 8 XXX
SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_8 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 134 STEER: 8 XXX
BO_ 134 STEER_ANGLE2: 8 XXX
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
SG_ STEER_ANGLE : 25|14@0- (0.1,36) [0|1023] "" XXX
@@ -629,8 +629,8 @@ BO_ 1868 EPS_FEEDBACK3: 8 XXX
CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D";
VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
VAL_ 552 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
VAL_ 537 GEAR 0 "P" 1 "D" 2 "R";
VAL_ 552 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
VAL_ 552 GEAR_SHIFT 6 "6th" 5 "5th" 4 "4th" 3 "3rd" 2 "2nd" 1 "1st" 14 "Shift" 13 "Park" 11 "Neutral" 12 "Reverse";
VAL_ 1098 CRZ_STATE 0 "CRUISE_DISABLED" 1 "CRUISE_READY" 2 "CRUISE_ENABLED" 4 "GAS_OVERRIDE";
VAL_ 1098 DISTANCE_SETTING 4 "CLOSE" 3 "MEDIUM_CLOSE" 2 "MEDIUM_FAR" 1 "FAR" 0 "ACC_DISABLED";
VAL_ 1098 DISTANCE_SETTING 4 "CLOSE" 3 "MEDIUM_CLOSE" 2 "MEDIUM_FAR" 1 "FAR" 0 "ACC_DISABLED";
selfdrive/car/mazda/carstate.py
+3 -2
View File
@@ -182,7 +182,8 @@ class CarState(CarStateBase):
#self.shifting = cp_cam.vl["GEAR"]["SHIFT"]
#self.torque_converter_lock = cp_cam.vl["GEAR"]["TORQUE_CONVERTER_LOCK"]
ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"]
ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
ret.steeringRateDeg = cp.vl["STEER"]["STEER_RATE"]
ret.steeringTorque = cp_body.vl["EPS_FEEDBACK"]["STEER_TORQUE_SENSOR"]
ret.gas = cp_cam.vl["ENGINE_DATA"]["PEDAL_GAS"]
@@ -273,6 +274,7 @@ class CarState(CarStateBase):
("BLINK_INFO", 10),
("ACC", 50),
("SYSTEM_SETTINGS", 10),
("STEER", 100)
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@@ -305,7 +307,6 @@ class CarState(CarStateBase):
("ENGINE_DATA", 100),
("STEER_TORQUE", 100),
("WHEEL_SPEEDS", 100),
("STEER", 100),
("SPEED", 50),
]