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Mazda: Add cruise button events for accel and decel #3027

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Merged
sshane merged 5 commits into from
Jan 27, 2026
Merged

Mazda: Add cruise button events for accel and decel #3027

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6c220c7
added button events for accel and decel
nikitap066 Jan 7, 2026
d4c70e2
Merge branch 'master' into mazda-cruise-button-events
elkoled Jan 20, 2026
aff7530
Merge branch 'master' into mazda-cruise-button-events
elkoled Jan 21, 2026
80fe8d8
Merge remote-tracking branch 'upstream/master' into mazda-cruise-butt…
sshane Jan 27, 2026
861b623
move down
sshane Jan 27, 2026
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14 changes: 12 additions & 2 deletions opendbc/car/mazda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@ def __init__(self, CP):
self.lkas_allowed_speed = False

self.distance_button = 0
self.accel_button = 0
self.decel_button = 0

def update(self, can_parsers) -> structs.CarState:
cp = can_parsers[Bus.pt]
Expand All @@ -27,7 +29,11 @@ def update(self, can_parsers) -> structs.CarState:
ret = structs.CarState()

prev_distance_button = self.distance_button
prev_accel_button = self.accel_button
prev_decel_button = self.decel_button
self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
self.accel_button = cp.vl["CRZ_BTNS"]["RES"]
self.decel_button = cp.vl["CRZ_BTNS"]["SET_M"]

self.parse_wheel_speeds(ret,
cp.vl["WHEEL_SPEEDS"]["FL"],
Expand Down Expand Up @@ -112,8 +118,12 @@ def update(self, can_parsers) -> structs.CarState:
self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1

# TODO: add button types for inc and dec
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
# cruise control button events: distance, inc, and dec
ret.buttonEvents = [
*create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.accel_button, prev_accel_button, {1: ButtonType.accelCruise}),
*create_button_events(self.decel_button, prev_decel_button, {1: ButtonType.decelCruise}),
]

return ret

Expand Down