101 lines
2.6 KiB
Python
101 lines
2.6 KiB
Python
def create_steer_command(packer, steer, steer_req, raw_cnt):
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"""Creates a CAN message for the Toyota Steer Command."""
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values = {
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"STEER_REQUEST": steer_req,
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"STEER_TORQUE_CMD": steer,
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"COUNTER": raw_cnt,
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"SET_ME_1": 1,
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}
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return packer.make_can_msg("STEERING_LKA", 0, values)
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def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
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"""Creates a CAN message for the Toyota LTA Steer Command."""
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values = {
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"COUNTER": raw_cnt + 128,
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"SETME_X1": 1,
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"SETME_X3": 3,
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"PERCENTAGE": 100,
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"SETME_X64": 0x64,
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"ANGLE": 0,
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"STEER_ANGLE_CMD": steer,
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"STEER_REQUEST": steer_req,
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"STEER_REQUEST_2": steer_req,
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"BIT": 0,
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}
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return packer.make_can_msg("STEERING_LTA", 0, values)
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def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
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# TODO: find the exact canceling bit that does not create a chime
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values = {
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"ACCEL_CMD": accel,
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"ACC_TYPE": acc_type,
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"DISTANCE": 0,
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"MINI_CAR": lead,
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"PERMIT_BRAKING": 1,
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"RELEASE_STANDSTILL": not standstill_req,
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"CANCEL_REQ": pcm_cancel,
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"ALLOW_LONG_PRESS": 1,
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}
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return packer.make_can_msg("ACC_CONTROL", 0, values)
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def create_acc_cancel_command(packer):
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values = {
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"GAS_RELEASED": 0,
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"CRUISE_ACTIVE": 0,
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"STANDSTILL_ON": 0,
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"ACCEL_NET": 0,
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"CRUISE_STATE": 0,
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"CANCEL_REQ": 1,
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}
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return packer.make_can_msg("PCM_CRUISE", 0, values)
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def create_fcw_command(packer, fcw):
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values = {
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"PCS_INDICATOR": 1,
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"FCW": fcw,
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"SET_ME_X20": 0x20,
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"SET_ME_X10": 0x10,
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"PCS_OFF": 1,
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"PCS_SENSITIVITY": 0,
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}
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return packer.make_can_msg("ACC_HUD", 0, values)
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def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
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values = {
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"TWO_BEEPS": chime,
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"LDA_ALERT": steer,
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"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
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"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
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"BARRIERS" : 1 if enabled else 0,
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# static signals
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"SET_ME_X02": 2,
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"SET_ME_X01": 1,
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"LKAS_STATUS": 1,
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"REPEATED_BEEPS": 0,
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"LANE_SWAY_FLD": 7,
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"LANE_SWAY_BUZZER": 0,
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"LANE_SWAY_WARNING": 0,
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"LDA_FRONT_CAMERA_BLOCKED": 0,
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"TAKE_CONTROL": 0,
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"LANE_SWAY_SENSITIVITY": 2,
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"LANE_SWAY_TOGGLE": 1,
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"LDA_ON_MESSAGE": 0,
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"LDA_SPEED_TOO_LOW": 0,
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"LDA_SA_TOGGLE": 1,
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"LDA_SENSITIVITY": 2,
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"LDA_UNAVAILABLE": 0,
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"LDA_MALFUNCTION": 0,
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"LDA_UNAVAILABLE_QUIET": 0,
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"ADJUSTING_CAMERA": 0,
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"LDW_EXIST": 1,
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}
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return packer.make_can_msg("LKAS_HUD", 0, values)
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