72 lines
2.0 KiB
Python
72 lines
2.0 KiB
Python
import copy
|
|
import crcmod
|
|
from selfdrive.car.nissan.values import CAR
|
|
|
|
nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
|
|
|
|
|
|
def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
|
|
idx = (frame % 16)
|
|
values = {
|
|
"DESIRED_ANGLE": apply_steer,
|
|
"SET_0x80_2": 0x80,
|
|
"SET_0x80": 0x80,
|
|
"MAX_TORQUE": lkas_max_torque if steer_on else 0,
|
|
"COUNTER": idx,
|
|
"LKA_ACTIVE": steer_on,
|
|
}
|
|
|
|
dat = packer.make_can_msg("LKAS", 0, values)[2]
|
|
|
|
values["CHECKSUM"] = nissan_checksum(dat[:7])
|
|
return packer.make_can_msg("LKAS", 0, values)
|
|
|
|
|
|
def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
|
|
values = copy.copy(cruise_throttle_msg)
|
|
can_bus = 2
|
|
|
|
if car_fingerprint == CAR.ALTIMA:
|
|
can_bus = 1
|
|
|
|
values["CANCEL_BUTTON"] = 1
|
|
values["NO_BUTTON_PRESSED"] = 0
|
|
values["PROPILOT_BUTTON"] = 0
|
|
values["SET_BUTTON"] = 0
|
|
values["RES_BUTTON"] = 0
|
|
values["FOLLOW_DISTANCE_BUTTON"] = 0
|
|
values["COUNTER"] = (frame % 4)
|
|
|
|
return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
|
|
|
|
|
|
def create_cancel_msg(packer, cancel_msg, cruise_cancel):
|
|
values = copy.copy(cancel_msg)
|
|
|
|
if cruise_cancel:
|
|
values["CANCEL_SEATBELT"] = 1
|
|
|
|
return packer.make_can_msg("CANCEL_MSG", 2, values)
|
|
|
|
|
|
def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
|
|
values = lkas_hud_msg
|
|
|
|
values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
|
|
values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
|
|
|
|
values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
|
|
values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
|
|
values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
|
|
|
|
return packer.make_can_msg("PROPILOT_HUD", 0, values)
|
|
|
|
|
|
def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
|
|
values = lkas_hud_info_msg
|
|
|
|
if steer_hud_alert:
|
|
values["HANDS_ON_WHEEL_WARNING"] = 1
|
|
|
|
return packer.make_can_msg("PROPILOT_HUD_INFO_MSG", 0, values)
|