Bounty: Mazda (#988)
* Mazda Port Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Update checksum to account for steer angle signal used in some cars Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Add test drive/segment ID to pass CI tests Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Process gear and brake signals, add new fingerprints Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Refactor some car interface code Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Drop redundant call, use Ecu, move warning to carstate, fix cruise speed Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Drop unused variables, cleanup handsoff tracking Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Update to steerError and steeringRate Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Refactor parse gear, update lkas signals from the new dbc Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Better tracking of engage and warning events Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * remove commented lines, update speed_kph to match panda Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Steer Error Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Set lkas enable speed to 52 kph Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Drop block signal use, fix LGTM alerts Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * When gas is pressed OP will disengage, sync local state with it Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Use car's speed signal instead of wheel speed Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Tidy up disengage events Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Rebase/Refactor with upstream Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Sync stock ACC state with OP Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * mazda dbc file renamed Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Improve acc stock and go by removing the 3 seconds limit Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Dashcam Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * PR Feedback Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Send ACC cancel only if we are sure cruise is enabled Otherwise we run the risk of disabling main cruise Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * updated route Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * no process replay for now * add to release files * Revert "updated route" This reverts commit 233db4f1bc2d8eefaa86488be4f6f88360d20793. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>albatross
Jafar Al-Gharaibeh
GitHub
parent
7961d5ffd7
commit
34b9b5e849
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@ -157,6 +157,13 @@ selfdrive/car/subaru/radar_interface.py
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selfdrive/car/subaru/values.py
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selfdrive/car/subaru/carcontroller.py
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selfdrive/car/subaru/subarucan.py
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selfdrive/car/mazda/__init__.py
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selfdrive/car/mazda/carstate.py
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selfdrive/car/mazda/interface.py
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selfdrive/car/mazda/radar_interface.py
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selfdrive/car/mazda/values.py
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selfdrive/car/mazda/carcontroller.py
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selfdrive/car/mazda/mazdacan.py
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selfdrive/car/mock/*.py
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selfdrive/clocksd/.gitignore
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@ -0,0 +1 @@
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@ -0,0 +1,44 @@
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from selfdrive.car.mazda import mazdacan
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from selfdrive.car.mazda.values import SteerLimitParams, Buttons
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.apply_steer_last = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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def update(self, enabled, CS, frame, actuators):
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""" Controls thread """
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can_sends = []
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### STEER ###
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if enabled:
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# calculate steer and also set limits due to driver torque
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new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steeringTorque, SteerLimitParams)
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self.steer_rate_limited = new_steer != apply_steer
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if CS.out.standstill and frame % 50 == 0:
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# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
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# Send Resume button at 2hz if we're engaged at standstill to support full stop and go!
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# TODO: improve the resume trigger logic by looking at actual radar data
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
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else:
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apply_steer = 0
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self.steer_rate_limited = False
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if CS.out.cruiseState.enabled and frame % 10 == 0:
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# Cancel Stock ACC if it's enabled while OP is disengaged
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# Match stock message rate which is sent at 10hz
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
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self.apply_steer_last = apply_steer
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can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
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frame, apply_steer, CS.cam_lkas))
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return can_sends
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@ -0,0 +1,185 @@
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from cereal import car
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from selfdrive.config import Conversions as CV
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, CAR
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
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self.shifter_values = can_define.dv["GEAR"]['GEAR']
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self.cruise_speed = 0
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self.acc_active_last = False
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self.low_speed_lockout = True
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self.low_speed_alert = False
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self.lkas_allowed = False
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['FL'] * CV.KPH_TO_MS
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ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]['FR'] * CV.KPH_TO_MS
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ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]['RL'] * CV.KPH_TO_MS
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ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['RR'] * CV.KPH_TO_MS
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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# Match panda speed reading
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speed_kph = cp.vl["ENGINE_DATA"]['SPEED']
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ret.standstill = speed_kph < .1
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can_gear = int(cp.vl["GEAR"]['GEAR'])
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
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ret.leftBlinker = cp.vl["BLINK_INFO"]['LEFT_BLINK'] == 1
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ret.rightBlinker = cp.vl["BLINK_INFO"]['RIGHT_BLINK'] == 1
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ret.steeringAngle = cp.vl["STEER"]['STEER_ANGLE']
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ret.steeringTorque = cp.vl["STEER_TORQUE"]['STEER_TORQUE_SENSOR']
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ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
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ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]['STEER_TORQUE_MOTOR']
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ret.steeringRate = cp.vl["STEER_RATE"]['STEER_ANGLE_RATE']
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ret.brakePressed = cp.vl["PEDALS"]['BRAKE_ON'] == 1
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ret.brake = cp.vl["BRAKE"]['BRAKE_PRESSURE']
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ret.brakeLights = ret.brakePressed
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ret.seatbeltUnlatched = cp.vl["SEATBELT"]['DRIVER_SEATBELT'] == 0
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ret.doorOpen = any([cp.vl["DOORS"]['FL'], cp.vl["DOORS"]['FR'],
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cp.vl["DOORS"]['BL'], cp.vl["DOORS"]['BR']])
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ret.gas = cp.vl["ENGINE_DATA"]['PEDAL_GAS']
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ret.gasPressed = ret.gas > 0
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# LKAS is enabled at 52kph going up and disabled at 45kph going down
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if speed_kph > LKAS_LIMITS.ENABLE_SPEED:
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self.lkas_allowed = True
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elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
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self.lkas_allowed = False
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# if any of the cruize buttons is pressed force state update
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if any([cp.vl["CRZ_BTNS"]['RES'],
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cp.vl["CRZ_BTNS"]['SET_P'],
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cp.vl["CRZ_BTNS"]['SET_M']]):
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self.cruise_speed = ret.vEgoRaw
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ret.cruiseState.available = True
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ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]['CRZ_ACTIVE'] == 1
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ret.cruiseState.speed = self.cruise_speed
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if ret.cruiseState.enabled:
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if not self.lkas_allowed:
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if not self.acc_active_last:
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self.low_speed_lockout = True
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else:
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self.low_speed_alert = True
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else:
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self.low_speed_lockout = False
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self.low_speed_alert = False
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# On if no driver torque the last 5 seconds
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ret.steerWarning = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] == 1
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self.acc_active_last = ret.cruiseState.enabled
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self.cam_lkas = cp_cam.vl["CAM_LKAS"]
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ret.steerError = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1
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return ret
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@staticmethod
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def get_can_parser(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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# sig_name, sig_address, default
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("LEFT_BLINK", "BLINK_INFO", 0),
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("RIGHT_BLINK", "BLINK_INFO", 0),
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("STEER_ANGLE", "STEER", 0),
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("STEER_ANGLE_RATE", "STEER_RATE", 0),
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("STEER_TORQUE_SENSOR", "STEER_TORQUE", 0),
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("STEER_TORQUE_MOTOR", "STEER_TORQUE", 0),
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("FL", "WHEEL_SPEEDS", 0),
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("FR", "WHEEL_SPEEDS", 0),
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("RL", "WHEEL_SPEEDS", 0),
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("RR", "WHEEL_SPEEDS", 0),
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]
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checks = [
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# sig_address, frequency
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("BLINK_INFO", 10),
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("STEER", 67),
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("STEER_RATE", 83),
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("STEER_TORQUE", 83),
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("WHEEL_SPEEDS", 100),
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]
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if CP.carFingerprint == CAR.CX5:
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signals += [
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("LKAS_BLOCK", "STEER_RATE", 0),
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("LKAS_TRACK_STATE", "STEER_RATE", 0),
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("HANDS_OFF_5_SECONDS", "STEER_RATE", 0),
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("CRZ_ACTIVE", "CRZ_CTRL", 0),
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("STANDSTILL","PEDALS", 0),
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("BRAKE_ON","PEDALS", 0),
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("BRAKE_PRESSURE","BRAKE", 0),
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("GEAR","GEAR", 0),
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("DRIVER_SEATBELT", "SEATBELT", 0),
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("FL", "DOORS", 0),
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("FR", "DOORS", 0),
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("BL", "DOORS", 0),
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("BR", "DOORS", 0),
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("PEDAL_GAS", "ENGINE_DATA", 0),
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("SPEED", "ENGINE_DATA", 0),
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("RES", "CRZ_BTNS", 0),
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("SET_P", "CRZ_BTNS", 0),
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("SET_M", "CRZ_BTNS", 0),
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("CTR", "CRZ_BTNS", 0),
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]
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checks += [
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("ENGINE_DATA", 100),
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("CRZ_CTRL", 50),
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("CRZ_BTNS", 10),
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("PEDALS", 50),
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("BRAKE", 50),
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("SEATBELT", 10),
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("DOORS", 10),
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("GEAR", 20),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [ ]
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checks = [ ]
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if CP.carFingerprint == CAR.CX5:
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signals += [
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# sig_name, sig_address, default
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("LKAS_REQUEST", "CAM_LKAS", 0),
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("CTR", "CAM_LKAS", 0),
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("ERR_BIT_1", "CAM_LKAS", 0),
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("LINE_NOT_VISIBLE", "CAM_LKAS", 0),
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("LDW", "CAM_LKAS", 0),
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("BIT_1", "CAM_LKAS", 1),
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("ERR_BIT_2", "CAM_LKAS", 0),
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("STEERING_ANGLE", "CAM_LKAS", 0),
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("ANGLE_ENABLED", "CAM_LKAS", 0),
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("CHKSUM", "CAM_LKAS", 0),
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]
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checks += [
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# sig_address, frequency
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("CAM_LKAS", 16),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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@ -0,0 +1,94 @@
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#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.car.mazda.values import CAR, LKAS_LIMITS, FINGERPRINTS, ECU_FINGERPRINT, Ecu
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.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 compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "mazda"
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ret.safetyModel = car.CarParams.SafetyModel.mazda
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ret.dashcamOnly = True
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ret.radarOffCan = True
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# Mazda port is a community feature for now
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ret.communityFeature = True
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ret.steerActuatorDelay = 0.1
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ret.steerRateCost = 1.0
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ret.steerLimitTimer = 0.8
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tire_stiffness_factor = 0.70 # not optimized yet
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if candidate in [CAR.CX5]:
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ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 15.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.2]]
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ret.lateralTuning.pid.kf = 0.00006
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# No steer below disable speed
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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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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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# TODO: button presses
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ret.buttonEvents = []
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# events
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events = self.create_common_events(ret)
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if self.CS.low_speed_lockout:
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events.add(EventName.speedTooLow)
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if self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators)
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self.frame += 1
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return can_sends
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@ -0,0 +1,104 @@
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from selfdrive.car.mazda.values import CAR, Buttons
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def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
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tmp = apply_steer + 2048
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lo = tmp & 0xFF
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hi = tmp >> 8
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b1 = int(lkas["BIT_1"])
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ldw = int(lkas["LDW"])
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er1= int(lkas["ERR_BIT_1"])
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lnv = 0
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er2= int(lkas["ERR_BIT_2"])
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steering_angle = int(lkas["STEERING_ANGLE"])
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b2 = int(lkas["ANGLE_ENABLED"])
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tmp = steering_angle + 2048
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ahi = tmp >> 10
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amd = (tmp & 0x3FF) >> 2
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amd = (amd >> 4) | (( amd & 0xF) << 4)
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alo = (tmp & 0x3) << 2
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ctr = frame % 16
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||||
# bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ]
|
||||
csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
|
||||
|
||||
#bytes [ 5 ] [ 6 ] [ 7 ]
|
||||
csum = csum - ahi - amd - alo - b2
|
||||
|
||||
if ahi == 1:
|
||||
csum = csum + 15
|
||||
|
||||
if csum < 0:
|
||||
if csum < -256:
|
||||
csum = csum + 512
|
||||
else:
|
||||
csum = csum + 256
|
||||
|
||||
csum = csum % 256
|
||||
|
||||
if car_fingerprint == CAR.CX5:
|
||||
values = {
|
||||
"LKAS_REQUEST" : apply_steer,
|
||||
"CTR" : ctr,
|
||||
"ERR_BIT_1" : er1,
|
||||
"LINE_NOT_VISIBLE" : lnv,
|
||||
"LDW" : ldw,
|
||||
"BIT_1" : b1,
|
||||
"ERR_BIT_2" : er2,
|
||||
"STEERING_ANGLE" : steering_angle,
|
||||
"ANGLE_ENABLED" : b2,
|
||||
"CHKSUM" : csum
|
||||
}
|
||||
|
||||
return packer.make_can_msg("CAM_LKAS", 0, values)
|
||||
|
||||
|
||||
def create_button_cmd(packer, car_fingerprint, button):
|
||||
|
||||
if button == Buttons.CANCEL:
|
||||
can = 1
|
||||
res = 0
|
||||
elif button == Buttons.RESUME:
|
||||
can = 0
|
||||
res = 1
|
||||
else:
|
||||
can = 0
|
||||
res = 0
|
||||
|
||||
if car_fingerprint == CAR.CX5:
|
||||
values = {
|
||||
"CAN_OFF" : can,
|
||||
"CAN_OFF_INV" : (can + 1) % 2,
|
||||
|
||||
"SET_P" : 0,
|
||||
"SET_P_INV" : 1,
|
||||
|
||||
"RES" : res,
|
||||
"RES_INV" : (res + 1) % 2,
|
||||
|
||||
"SET_M" : 0,
|
||||
"SET_M_INV" : 1,
|
||||
|
||||
"DISTANCE_LESS" : 0,
|
||||
"DISTANCE_LESS_INV" : 1,
|
||||
|
||||
"DISTANCE_MORE" : 0,
|
||||
"DISTANCE_MORE_INV" : 1,
|
||||
|
||||
"MODE_X" : 0,
|
||||
"MODE_X_INV" : 1,
|
||||
|
||||
"MODE_Y" : 0,
|
||||
"MODE_Y_INV" : 1,
|
||||
|
||||
"BIT1" : 1,
|
||||
"BIT2" : 1,
|
||||
"BIT3" : 1,
|
||||
"CTR" : 0
|
||||
}
|
||||
|
||||
return packer.make_can_msg("CRZ_BTNS", 0, values)
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#!/usr/bin/env python3
|
||||
from selfdrive.car.interfaces import RadarInterfaceBase
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
pass
|
||||
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
from selfdrive.car import dbc_dict
|
||||
from cereal import car
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
# Steer torque limits
|
||||
|
||||
class SteerLimitParams:
|
||||
STEER_MAX = 600 # max_steer 2048
|
||||
STEER_STEP = 1 # how often we update the steer cmd
|
||||
STEER_DELTA_UP = 10 # torque increase per refresh
|
||||
STEER_DELTA_DOWN = 20 # torque decrease per refresh
|
||||
STEER_DRIVER_ALLOWANCE = 15 # allowed driver torque before start limiting
|
||||
STEER_DRIVER_MULTIPLIER = 1 # weight driver torque
|
||||
STEER_DRIVER_FACTOR = 1 # from dbc
|
||||
|
||||
class CAR:
|
||||
CX5 = "Mazda CX-5 2017"
|
||||
|
||||
class LKAS_LIMITS:
|
||||
STEER_THRESHOLD = 15
|
||||
DISABLE_SPEED = 45 #kph
|
||||
ENABLE_SPEED = 52 #kph
|
||||
|
||||
class Buttons:
|
||||
NONE = 0
|
||||
SET_PLUS = 1
|
||||
SET_MINUS = 2
|
||||
RESUME = 3
|
||||
CANCEL = 4
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.CX5: [
|
||||
# CX-5 2017 GT
|
||||
{
|
||||
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8
|
||||
},
|
||||
|
||||
# CX-5 2019 GTR
|
||||
{
|
||||
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 254: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 736: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1171: 8, 1173: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1244: 8, 1260: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8, 1776: 8, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
},
|
||||
|
||||
# Mazda 6 2017 GT
|
||||
{
|
||||
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1182: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1456: 8, 1479: 8
|
||||
},
|
||||
|
||||
# CX-9 2017 Australia
|
||||
{
|
||||
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 138: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 522: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 583: 8, 605: 8, 606: 8, 628: 8, 832: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1177: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1247: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8
|
||||
},
|
||||
],
|
||||
|
||||
}
|
||||
|
||||
ECU_FINGERPRINT = {
|
||||
Ecu.fwdCamera: [579], # steer torque cmd
|
||||
}
|
||||
|
||||
|
||||
DBC = {
|
||||
CAR.CX5: dbc_dict('mazda_2017', None),
|
||||
}
|
||||
|
|
@ -22,13 +22,14 @@ segments = [
|
|||
#("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"), # CHRYSLER.JEEP_CHEROKEE
|
||||
("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"), # SUBARU.IMPREZA
|
||||
("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
|
||||
("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"), # NISSAN.XTRAIL
|
||||
|
||||
# Enable when port is tested and dascamOnly is no longer set
|
||||
("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"), # NISSAN.XTRAIL
|
||||
#("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"), # MAZDA.CX5
|
||||
]
|
||||
|
||||
# ford doesn't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "ford"]
|
||||
excluded_interfaces = ["mock", "ford", "mazda"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@ from selfdrive.car.gm.values import CAR as GM
|
|||
from selfdrive.car.honda.values import CAR as HONDA
|
||||
from selfdrive.car.hyundai.values import CAR as HYUNDAI
|
||||
from selfdrive.car.nissan.values import CAR as NISSAN
|
||||
from selfdrive.car.mazda.values import CAR as MAZDA
|
||||
from selfdrive.car.subaru.values import CAR as SUBARU
|
||||
from selfdrive.car.toyota.values import CAR as TOYOTA
|
||||
from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
|
||||
|
|
@ -362,6 +363,10 @@ routes = {
|
|||
'carFingerprint': NISSAN.LEAF,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"32a319f057902bb3|2020-04-27--15-18-58": {
|
||||
'carFingerprint': MAZDA.CX5,
|
||||
'enableCamera': True,
|
||||
},
|
||||
}
|
||||
|
||||
passive_routes: List[str] = [
|
||||
|
|
@ -371,6 +376,8 @@ forced_dashcam_routes = [
|
|||
# Ford fusion
|
||||
"f1b4c567731f4a1b|2018-04-18--11-29-37",
|
||||
"f1b4c567731f4a1b|2018-04-30--10-15-35",
|
||||
# Mazda
|
||||
"32a319f057902bb3|2020-04-27--15-18-58",
|
||||
]
|
||||
|
||||
# TODO: add routes for these cars
|
||||
|
|
|
|||
Loading…
Reference in New Issue