Release 260111

2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
2601 changed files with 855070 additions and 0 deletions
--- a/opendbc_repo/opendbc/car/mazda/values.py
+++ b/opendbc_repo/opendbc/car/mazda/values.py
@@ -0,0 +1,113 @@
+from dataclasses import dataclass, field
+from enum import IntFlag
+
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.structs import CarParams
+from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = CarParams.Ecu
+
+
+# Steer torque limits
+
+class CarControllerParams:
+  STEER_MAX = 800                # theoretical max_steer 2047
+  STEER_DELTA_UP = 10             # torque increase per refresh
+  STEER_DELTA_DOWN = 25           # 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
+  STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
+  STEER_STEP = 1  # 100 Hz
+
+  def __init__(self, CP):
+    pass
+
+
+@dataclass
+class MazdaCarDocs(CarDocs):
+  package: str = "All"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
+
+
+@dataclass(frozen=True, kw_only=True)
+class MazdaCarSpecs(CarSpecs):
+  tireStiffnessFactor: float = 0.7  # not optimized yet
+
+
+class MazdaFlags(IntFlag):
+  # Static flags
+  # Gen 1 hardware: same CAN messages and same camera
+  GEN1 = 1
+
+
+@dataclass
+class MazdaPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'mazda_2017'})
+  flags: int = MazdaFlags.GEN1
+
+
+class CAR(Platforms):
+  MAZDA_CX5 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-5 2017-21")],
+    MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
+  )
+  MAZDA_CX9 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-9 2016-20")],
+    MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
+  )
+  MAZDA_3 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda 3 2017-18")],
+    MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
+  )
+  MAZDA_6 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda 6 2017-20")],
+    MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
+  )
+  MAZDA_CX9_2021 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-9 2021-23", video="https://youtu.be/dA3duO4a0O4")],
+    MAZDA_CX9.specs
+  )
+  MAZDA_CX5_2022 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-5 2022-25")],
+    MAZDA_CX5.specs,
+  )
+
+
+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
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+)
+
+DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  cars = []
+  for platform in CAR:
+    for doc in platform.config.car_docs:
+      cars.append(doc.name)
+  cars.sort()
+  for c in cars:
+    print(c)