106 lines
2.6 KiB
Python
106 lines
2.6 KiB
Python
def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
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"""Creates a CAN message for the Toyota Steer Command."""
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if steer < 0:
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direction = 3
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elif steer > 0:
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direction = 1
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else:
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direction = 2
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mode = 3 if enabled else 1
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values = {
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"STATE": mode,
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"DIRECTION_CMD": direction,
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"ANGLE": steer,
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"SET_ME_X10": 0x10,
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"SET_ME_X40": 0x40
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}
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if apgs_enabled:
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return packer.make_can_msg("STEERING_IPAS", 0, values)
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else:
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return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
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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, angle):
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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,
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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": angle,
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"STEER_ANGLE_CMD": steer,
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"STEER_REQUEST": 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):
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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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"SET_ME_X01": 1,
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"DISTANCE": 0,
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"MINI_CAR": lead,
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"SET_ME_X3": 3,
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"SET_ME_1": 1,
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"RELEASE_STANDSTILL": not standstill_req,
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"CANCEL_REQ": pcm_cancel,
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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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"FCW": fcw,
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"SET_ME_X20": 0x20,
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"SET_ME_X10": 0x10,
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"SET_ME_X80": 0x80,
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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):
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values = {
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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" : 3 if left_lane_depart or right_lane_depart else 0,
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"SET_ME_X0C": 0x0c,
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"SET_ME_X2C": 0x2c,
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"SET_ME_X38": 0x38,
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"SET_ME_X02": 0x02,
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"SET_ME_X01": 1,
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"SET_ME_X01_2": 1,
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"REPEATED_BEEPS": 0,
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"TWO_BEEPS": chime,
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"LDA_ALERT": steer,
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}
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return packer.make_can_msg("LKAS_HUD", 0, values)
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