53 lines
2.0 KiB
Python
53 lines
2.0 KiB
Python
# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT.
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# PQ35/PQ46/NMS, and any future MLB, to come later.
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def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
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values = {
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"SET_ME_0X3": 0x3,
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"Assist_Torque": abs(apply_steer),
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"Assist_Requested": lkas_enabled,
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"Assist_VZ": 1 if apply_steer < 0 else 0,
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"HCA_Available": 1,
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"HCA_Standby": not lkas_enabled,
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"HCA_Active": lkas_enabled,
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"SET_ME_0XFE": 0xFE,
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"SET_ME_0X07": 0x07,
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}
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return packer.make_can_msg("HCA_01", bus, values, idx)
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def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
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if hca_enabled:
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leftlanehud = 3 if leftLaneVisible else 1
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rightlanehud = 3 if rightLaneVisible else 1
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else:
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leftlanehud = 2 if leftLaneVisible else 1
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rightlanehud = 2 if rightLaneVisible else 1
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values = {
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"LDW_Unknown": 2, # FIXME: possible speed or attention relationship
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"Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
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"Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
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"Left_Lane_Status": leftlanehud,
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"Right_Lane_Status": rightlanehud,
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"Alert_Message": hud_alert,
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}
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return packer.make_can_msg("LDW_02", bus, values)
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def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
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values = {
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"GRA_Hauptschalter": CS.graHauptschalter,
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"GRA_Abbrechen": buttonStatesToSend["cancel"],
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"GRA_Tip_Setzen": buttonStatesToSend["setCruise"],
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"GRA_Tip_Hoch": buttonStatesToSend["accelCruise"],
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"GRA_Tip_Runter": buttonStatesToSend["decelCruise"],
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"GRA_Tip_Wiederaufnahme": buttonStatesToSend["resumeCruise"],
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"GRA_Verstellung_Zeitluecke": 3 if buttonStatesToSend["gapAdjustCruise"] else 0,
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"GRA_Typ_Hauptschalter": CS.graTypHauptschalter,
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"GRA_Codierung": 2,
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"GRA_Tip_Stufe_2": CS.graTipStufe2,
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"GRA_ButtonTypeInfo": CS.graButtonTypeInfo
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}
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return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
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