mazda: sync CX-9 cruise set speed with cluster for PXM7 PCM

opendbc/car/mazda/carstate.py

@@ -2,7 +2,7 @@
 from opendbc.car import Bus, DT_CTRL, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.mazda.values import DBC, LKAS_LIMITS, CarControllerParams
+from opendbc.car.mazda.values import DBC, LKAS_LIMITS, CarControllerParams, MazdaFlags
 from opendbc.sunnypilot.car.mazda.carstate_ext import CarStateExt
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -181,7 +181,12 @@ def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
       ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
     self.brake_pressed_prev = ret.brakePressed
     ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1
-    ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
+    cruise_speed_kph = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"]
+    if self.CP.flags & MazdaFlags.PXM7_CRUISE_SPEED and cruise_speed_kph > 0:
+      # The shared DBC decodes CRZ_SPEED as raw / 200 - 0.5, which matches other
+      # Mazdas. Export CX-9s with PXM7 PCMs use (raw + 96) / 196 instead.
+      cruise_speed_kph = cruise_speed_kph * 50 / 49 + 1
+    ret.cruiseState.speed = cruise_speed_kph * CV.KPH_TO_MS
 
     # stock lkas should be on
     # TODO: is this needed?

opendbc/car/mazda/interface.py

@@ -5,7 +5,7 @@
 from opendbc.car.mazda.carcontroller import CarController
 from opendbc.car.mazda.carstate import CarState
 from opendbc.car.mazda.radar_interface import RadarInterface
-from opendbc.car.mazda.values import CAR, DBC, LKAS_LIMITS, STEER_TO_ZERO_EPS_FW, MazdaSafetyFlags
+from opendbc.car.mazda.values import CAR, DBC, LKAS_LIMITS, STEER_TO_ZERO_EPS_FW, MazdaFlags, MazdaSafetyFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -20,6 +20,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
 
     ret.radarUnavailable = Bus.radar not in DBC[candidate]
 
+    if candidate == CAR.MAZDA_CX9_2021 and any(
+      fw.ecu == 'engine' and fw.fwVersion.startswith(b'PXM7-188K2-') for fw in car_fw
+    ):
+      ret.flags |= MazdaFlags.PXM7_CRUISE_SPEED.value
+
     # 2022+ CX-5 EPS can steer to zero and has no hands-off lockout. Detected by EPS firmware
     # rather than by model, so an EPS swapped into an older Mazda is recognized as what it is.
     steer_to_zero = candidate == CAR.MAZDA_CX5_2022 or \

opendbc/car/mazda/tests/test_mazda_carstate.py

@@ -1,6 +1,6 @@
 import pytest
 
-from opendbc.car import DT_CTRL, gen_empty_fingerprint
+from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.mazda.interface import CarInterface
 from opendbc.car.mazda.values import CAR, CarControllerParams
@@ -15,11 +15,24 @@
 FAULTED = bytes([0x42, 0b00000001, 0, 0, 0, 0x01, 0, 0])    # ERR_BIT (bit 40) set
 
 
-def _interface(alpha_long=True):
+Ecu = structs.CarParams.Ecu
+
+
+def _engine_fw(version):
+  fw = structs.CarParams.CarFw()
+  fw.ecu = Ecu.engine
+  fw.address = 0x7e0
+  fw.subAddress = 0
+  fw.fwVersion = version
+  return [fw]
+
+
+def _interface(alpha_long=True, candidate=CAR.MAZDA_CX5_2022, car_fw=None):
   fingerprint = gen_empty_fingerprint()
-  CP = CarInterface.get_params(CAR.MAZDA_CX5_2022, fingerprint, [], alpha_long=alpha_long,
+  car_fw = car_fw or []
+  CP = CarInterface.get_params(candidate, fingerprint, car_fw, alpha_long=alpha_long,
                                is_release=False, docs=False)
-  CP_SP = CarInterface.get_params_sp(CP, CAR.MAZDA_CX5_2022, fingerprint, [],
+  CP_SP = CarInterface.get_params_sp(CP, candidate, fingerprint, car_fw,
                                      alpha_long=alpha_long, is_release_sp=False, docs=False)
   return CarInterface(CP, CP_SP)
 
@@ -193,6 +206,42 @@ def test_implausible_frames_read_as_no_limit(self, sign_on, speed_sign):
     assert ret_sp.speedLimit == 0.0
 
 
+class TestCruiseSetSpeed:
+  @staticmethod
+  def _decode(candidate, raw, engine_fw=None):
+    car_fw = _engine_fw(engine_fw) if engine_fw is not None else []
+    CI = _interface(alpha_long=False, candidate=candidate, car_fw=car_fw)
+    payload = raw.to_bytes(2, "big") + bytes(6)
+    ret = None
+    for i in range(2):
+      ret, _ = CI.update([(int(i * DT_CTRL * 1e9), [(0x21F, payload, 0)])])
+    return ret.cruiseState.speed / CV.KPH_TO_MS
+
+  @pytest.mark.parametrize(("raw", "cluster_kph"), [
+    (6176, 32),
+    (7352, 38),
+    (10098, 52),
+    (19504, 100),
+  ])
+  @pytest.mark.parametrize("engine_fw", [b'PXM7-188K2-D', b'PXM7-188K2-E', b'PXM7-188K2-F'])
+  def test_pxm7_cx9_uses_cluster_scale(self, raw, cluster_kph, engine_fw):
+    # Real CRZ_EVENTS samples from the reporter's CX-9 route.
+    decoded_kph = self._decode(CAR.MAZDA_CX9_2021, raw, engine_fw=engine_fw)
+    assert decoded_kph == pytest.approx((raw + 96) / 196)
+    assert round(decoded_kph) == cluster_kph
+
+  def test_us_pxm4_cx9_uses_shared_dbc_scale(self):
+    raw = 19504
+    dbc_kph = raw * 0.005 - 0.5
+    assert self._decode(CAR.MAZDA_CX9_2021, raw, engine_fw=b'PXM4-188K2-D') == pytest.approx(dbc_kph)
+
+  @pytest.mark.parametrize("candidate", [CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9])
+  def test_shared_dbc_decode_is_unchanged_for_other_platforms(self, candidate):
+    raw = 19504
+    dbc_kph = raw * 0.005 - 0.5
+    assert self._decode(candidate, raw) == pytest.approx(dbc_kph)
+
+
 class TestCancelUnderBraking:
   """The availability brake-hold exists for brake-only PEDALS samples that arrive with both
   bits low mid-press. A wheel CANCEL turns the MRCC main state off for real and must land

opendbc/car/mazda/values.py

@@ -99,6 +99,8 @@ class MazdaFlags(IntFlag):
   # Static flags
   # Gen 1 hardware: same CAN messages and same camera
   GEN1 = 1
+  # Export CX-9 PCM family whose CRZ_SPEED scale differs from the shared Mazda DBC.
+  PXM7_CRUISE_SPEED = 2
 
 
 class MazdaSafetyFlags(IntFlag):