Release 260111

opendbc_repo/opendbc/car/mazda/interface.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+from opendbc.car import get_safety_config, structs
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.mazda.values import CAR, LKAS_LIMITS
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.mazda.carcontroller import CarController
+from opendbc.car.mazda.carstate import CarState
+from opendbc.car.mazda.values import CAR, LKAS_LIMITS
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "mazda"
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
+    ret.radarUnavailable = True
+
+    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
+
+    ret.steerActuatorDelay = 0.1
+    ret.steerLimitTimer = 0.8
+
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    if candidate not in (CAR.MAZDA_CX5_2022,):
+      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
+
+    ret.centerToFront = ret.wheelbase * 0.41
+
+    return ret