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Mazda: recognize CX-9 with swapped CX-5 EPS #3

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Mazda: recognize CX-9 with swapped CX-5 EPS #3

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2 changes: 2 additions & 0 deletions opendbc/car/mazda/fingerprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -259,6 +259,8 @@
CAR.MAZDA_CX9_2021: {
(Ecu.eps, 0x730, None): [
b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
# CX-9 with a supported 2022+ CX-5 EPS swap
b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'PW25-188K2-\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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31 changes: 31 additions & 0 deletions opendbc/car/mazda/tests/test_mazda_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

from opendbc.car import structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.fw_versions import match_fw_to_car
from opendbc.car.mazda.interface import CarInterface
from opendbc.car.mazda.values import CAR, LKAS_LIMITS, STEER_TO_ZERO_EPS_FW

Expand All @@ -21,6 +22,26 @@ def _eps_fw(version: bytes) -> list[structs.CarParams.CarFw]:
return [fw]


def _fw(ecu, address: int, version: bytes) -> structs.CarParams.CarFw:
fw = structs.CarParams.CarFw()
fw.brand = 'mazda'
fw.ecu = ecu
fw.address = address
fw.subAddress = 0
fw.fwVersion = version
return fw


HYBRID_CX9_FW = [
_fw(Ecu.engine, 0x7e0, b'PXM7-188K2-E' + b'\x00' * 12),
_fw(Ecu.transmission, 0x7e1, b'PXM7-21PS1-B' + b'\x00' * 12),
_fw(Ecu.abs, 0x760, b'TA0B-437K2-C' + b'\x00' * 12),
_fw(Ecu.fwdRadar, 0x764, b'K131-67XK2-F' + b'\x00' * 12),
_fw(Ecu.fwdCamera, 0x706, b'GSH7-67XK2-S' + b'\x00' * 12),
_fw(Ecu.eps, 0x730, b'KSD5-3210X-C-00' + b'\x00' * 9),
]


def _params(candidate, car_fw=None, alpha_long=False):
return CarInterface.get_params(candidate, {0: {}, 1: {}, 2: {}}, car_fw or [],
alpha_long, is_release=False, docs=False)
Expand All @@ -46,6 +67,16 @@ def test_swapped_eps_lifts_dashcam_and_the_speed_floor(self):
assert CP.minSteerSpeed == 0
assert CP.steerActuatorDelay == pytest.approx(0.14)

def test_hybrid_cx9_is_identified_with_the_swapped_eps(self):
exact, candidates = match_fw_to_car(HYBRID_CX9_FW, "", allow_fuzzy=False, log=False)
assert exact
assert candidates == {CAR.MAZDA_CX9_2021}

CP = _params(CAR.MAZDA_CX9_2021, HYBRID_CX9_FW)
assert not CP.dashcamOnly
assert CP.minSteerSpeed == 0
assert CP.steerActuatorDelay == pytest.approx(0.14)

def test_swapped_eps_does_not_unlock_longitudinal(self):
# the radar and camera are not part of an EPS swap, and this car keeps its own pre-2022 pair
CP = _params(CAR.MAZDA_CX5, _eps_fw(SWAPPED_EPS_FW), alpha_long=True)
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