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https://github.com/MoreTore/openpilot.git
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MoreTorque
100 lines
4.1 KiB
Python
Executable File
100 lines
4.1 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car, custom
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from panda import Panda
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS, MazdaFlags, GEN1, GEN2
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.common.params import Params
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ButtonType = car.CarState.ButtonEvent.Type
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FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
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ret.carName = "mazda"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
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ret.radarUnavailable = True
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ret.dashcamOnly = False
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if candidate in GEN1:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_GEN1
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p = Params()
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if p.get_bool("TorqueInterceptorEnabled"): # Torque Interceptor Installed
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print("Torque Interceptor Installed")
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ret.flags |= MazdaFlags.TORQUE_INTERCEPTOR.value
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_TORQUE_INTERCEPTOR
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if p.get_bool("RadarInterceptorEnabled"): # Radar Interceptor Installed
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ret.flags |= MazdaFlags.RADAR_INTERCEPTOR.value
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ret.experimentalLongitudinalAvailable = True
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ret.radarUnavailable = False
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ret.startingState = True
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ret.longitudinalTuning.kpBP = [0., 5., 30.]
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ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
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ret.longitudinalTuning.kiBP = [0., 5., 20., 30.]
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ret.longitudinalTuning.kiV = [0.36, 0.23, 0.17, 0.1]
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_RADAR_INTERCEPTOR
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if p.get_bool("NoMRCC"): # No Mazda Radar Cruise Control; Missing CRZ_CTRL signal
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ret.flags |= MazdaFlags.NO_MRCC.value
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_NO_MRCC
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if p.get_bool("NoFSC"): # No Front Sensing Camera
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ret.flags |= MazdaFlags.NO_FSC.value
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_NO_FSC
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ret.steerActuatorDelay = 0.1
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if candidate in GEN2:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_MAZDA_GEN2
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ret.experimentalLongitudinalAvailable = True
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ret.openpilotLongitudinalControl = experimental_long
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ret.stopAccel = -.5
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ret.vEgoStarting = .2
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [0.0, 0.0, 0.0]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.1, 0.1]
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ret.startingState = True
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ret.steerActuatorDelay = 0.3
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ret.steerLimitTimer = 0.8
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_3_2019, CAR.MAZDA_CX_30, CAR.MAZDA_CX_50) and not ret.flags & MazdaFlags.TORQUE_INTERCEPTOR:
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ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
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ret.centerToFront = ret.wheelbase * 0.41
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return ret
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# returns a car.CarState
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def _update(self, c, frogpilot_toggles):
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ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_toggles)
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# TODO: add button types for inc and dec
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ret.buttonEvents = [
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*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
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*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
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]
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# events
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events = self.create_common_events(ret)
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if self.CP.flags & MazdaFlags.GEN1:
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if self.CS.lkas_disabled:
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events.add(EventName.lkasDisabled)
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elif self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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if not self.CS.acc_active_last and not self.CS.ti_lkas_allowed:
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events.add(EventName.steerTempUnavailable)
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#if (not self.CS.ti_lkas_allowed) and (self.CP.flags & MazdaFlags.TORQUE_INTERCEPTOR):
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# events.add(EventName.steerTempUnavailable) # torqueInterceptorTemporaryWarning
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ret.events = events.to_msg()
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return ret, fp_ret
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