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110 lines
3.4 KiB
110 lines
3.4 KiB
import struct
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from selfdrive.config import Conversions as CV
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from selfdrive.car.honda.values import CAR, HONDA_BOSCH
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# *** Honda specific ***
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def can_cksum(mm):
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s = 0
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for c in mm:
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c = ord(c)
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s += (c>>4)
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s += c & 0xF
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s = 8-s
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s %= 0x10
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return s
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def fix(msg, addr):
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msg2 = msg[0:-1] + chr(ord(msg[-1]) | can_cksum(struct.pack("I", addr)+msg))
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return msg2
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def get_pt_bus(car_fingerprint, is_panda_black):
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return 1 if car_fingerprint in HONDA_BOSCH and is_panda_black else 0
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def get_lkas_cmd_bus(car_fingerprint, is_panda_black):
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return 2 if car_fingerprint in HONDA_BOSCH and not is_panda_black else 0
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def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black):
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# TODO: do we loose pressure if we keep pump off for long?
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brakelights = apply_brake > 0
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brake_rq = apply_brake > 0
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pcm_fault_cmd = False
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values = {
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"COMPUTER_BRAKE": apply_brake,
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"BRAKE_PUMP_REQUEST": pump_on,
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"CRUISE_OVERRIDE": pcm_override,
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"CRUISE_FAULT_CMD": pcm_fault_cmd,
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"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
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"COMPUTER_BRAKE_REQUEST": brake_rq,
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"SET_ME_1": 1,
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"BRAKE_LIGHTS": brakelights,
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"CHIME": 0,
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# TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
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"FCW": fcw << 1,
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"AEB_REQ_1": 0,
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"AEB_REQ_2": 0,
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"AEB_STATUS": 0,
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}
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bus = get_pt_bus(car_fingerprint, is_panda_black)
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return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
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def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, is_panda_black):
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values = {
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"STEER_TORQUE": apply_steer if lkas_active else 0,
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"STEER_TORQUE_REQUEST": lkas_active,
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}
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bus = get_lkas_cmd_bus(car_fingerprint, is_panda_black)
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return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
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def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black):
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commands = []
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bus_pt = get_pt_bus(car_fingerprint, is_panda_black)
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bus_lkas = get_lkas_cmd_bus(car_fingerprint, is_panda_black)
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if car_fingerprint not in HONDA_BOSCH:
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acc_hud_values = {
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'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
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'PCM_GAS': hud.pcm_accel,
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'CRUISE_SPEED': hud.v_cruise,
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'ENABLE_MINI_CAR': hud.mini_car,
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'HUD_LEAD': hud.car,
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'HUD_DISTANCE': 3, # max distance setting on display
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'IMPERIAL_UNIT': int(not is_metric),
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'SET_ME_X01_2': 1,
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'SET_ME_X01': 1,
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}
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commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
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lkas_hud_values = {
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'SET_ME_X41': 0x41,
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'SET_ME_X48': 0x48,
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'STEERING_REQUIRED': hud.steer_required,
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'SOLID_LANES': hud.lanes,
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'BEEP': 0,
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}
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commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
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if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
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radar_hud_values = {
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'ACC_ALERTS': hud.acc_alert,
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'LEAD_SPEED': 0x1fe, # What are these magic values
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'LEAD_STATE': 0x7,
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'LEAD_DISTANCE': 0x1e,
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}
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commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
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return commands
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def spam_buttons_command(packer, button_val, idx, car_fingerprint, is_panda_black):
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values = {
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'CRUISE_BUTTONS': button_val,
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'CRUISE_SETTING': 0,
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}
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bus = get_pt_bus(car_fingerprint, is_panda_black)
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return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
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