45 lines
1.9 KiB
Python
45 lines
1.9 KiB
Python
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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