github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
40 lines
1.4 KiB
Python
Executable File
40 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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from opendbc.car import get_safety_config, structs
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.mazda.carcontroller import CarController
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from opendbc.car.mazda.carstate import CarState
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from opendbc.car.mazda.values import CAR, LKAS_LIMITS
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "mazda"
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
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ret.radarUnavailable = True
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ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
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ret.steerActuatorDelay = 0.1
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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,):
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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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@staticmethod
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def _get_params_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candidate, fingerprint: dict[int, dict[int, int]],
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car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_sp: bool, docs: bool) -> structs.CarParamsSP:
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ret.intelligentCruiseButtonManagementAvailable = True
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return ret
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