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39 lines
1.0 KiB
39 lines
1.0 KiB
5 years ago
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import copy
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import crcmod
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from selfdrive.car.nissan.values import CAR
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nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
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def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_on, lkas_max_torque):
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if car_fingerprint == CAR.XTRAIL:
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idx = (frame % 16)
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values = {
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"DESIRED_ANGLE": apply_steer,
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"SET_0x80_2": 0x80,
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"SET_0x80": 0x80,
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"MAX_TORQUE": lkas_max_torque if steer_on else 0,
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"COUNTER": idx,
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"LKA_ACTIVE": steer_on,
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}
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dat = packer.make_can_msg("LKAS", 0, values)[2]
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values["CRC"] = nissan_checksum(dat[:7])
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return packer.make_can_msg("LKAS", 0, values)
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def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
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values = copy.copy(cruise_throttle_msg)
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values["CANCEL_BUTTON"] = 1
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values["NO_BUTTON_PRESSED"] = 0
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values["PROPILOT_BUTTON"] = 0
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values["SET_BUTTON"] = 0
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values["RES_BUTTON"] = 0
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values["FOLLOW_DISTANCE_BUTTON"] = 0
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values["COUNTER"] = (frame % 4)
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return packer.make_can_msg("CruiseThrottle", 2, values)
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