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from selfdrive.car.mazda.values import GEN1, Buttons
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def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
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tmp = apply_steer + 2048
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lo = tmp & 0xFF
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hi = tmp >> 8
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# copy values from camera
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b1 = int(lkas["BIT_1"])
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er1 = int(lkas["ERR_BIT_1"])
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lnv = 0
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ldw = 0
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er2 = int(lkas["ERR_BIT_2"])
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# Some older models do have these, newer models don't.
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# Either way, they all work just fine if set to zero.
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steering_angle = 0
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b2 = 0
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tmp = steering_angle + 2048
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ahi = tmp >> 10
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amd = (tmp & 0x3FF) >> 2
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amd = (amd >> 4) | (( amd & 0xF) << 4)
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alo = (tmp & 0x3) << 2
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ctr = frame % 16
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# bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ]
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csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
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# bytes [ 5 ] [ 6 ] [ 7 ]
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csum = csum - ahi - amd - alo - b2
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if ahi == 1:
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csum = csum + 15
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if csum < 0:
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if csum < -256:
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csum = csum + 512
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else:
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csum = csum + 256
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csum = csum % 256
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values = {}
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if car_fingerprint in GEN1:
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values = {
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"LKAS_REQUEST": apply_steer,
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"CTR": ctr,
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"ERR_BIT_1": er1,
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"LINE_NOT_VISIBLE" : lnv,
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"LDW": ldw,
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"BIT_1": b1,
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"ERR_BIT_2": er2,
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"STEERING_ANGLE": steering_angle,
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"ANGLE_ENABLED": b2,
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"CHKSUM": csum
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}
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return packer.make_can_msg("CAM_LKAS", 0, values)
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def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool):
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values = {s: cam_msg[s] for s in [
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"LINE_VISIBLE",
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"LINE_NOT_VISIBLE",
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"LANE_LINES",
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"BIT1",
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"BIT2",
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"BIT3",
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"NO_ERR_BIT",
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"S1",
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"S1_HBEAM",
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]}
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values.update({
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# TODO: what's the difference between all these? do we need to send all?
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"HANDS_WARN_3_BITS": 0b111 if steer_required else 0,
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"HANDS_ON_STEER_WARN": steer_required,
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"HANDS_ON_STEER_WARN_2": steer_required,
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# TODO: right lane works, left doesn't
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# TODO: need to do something about L/R
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"LDW_WARN_LL": 0,
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"LDW_WARN_RL": 0,
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})
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return packer.make_can_msg("CAM_LANEINFO", 0, values)
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def create_button_cmd(packer, car_fingerprint, counter, button):
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can = int(button == Buttons.CANCEL)
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res = int(button == Buttons.RESUME)
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if car_fingerprint in GEN1:
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values = {
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"CAN_OFF": can,
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"CAN_OFF_INV": (can + 1) % 2,
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"SET_P": 0,
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"SET_P_INV": 1,
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"RES": res,
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"RES_INV": (res + 1) % 2,
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"SET_M": 0,
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"SET_M_INV": 1,
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"DISTANCE_LESS": 0,
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"DISTANCE_LESS_INV": 1,
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"DISTANCE_MORE": 0,
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"DISTANCE_MORE_INV": 1,
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"MODE_X": 0,
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"MODE_X_INV": 1,
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"MODE_Y": 0,
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"MODE_Y_INV": 1,
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"BIT1": 1,
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"BIT2": 1,
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"BIT3": 1,
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"CTR": (counter + 1) % 16,
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}
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return packer.make_can_msg("CRZ_BTNS", 0, values)
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