import crcmod
from selfdrive . car . nissan . values import CAR
# TODO: add this checksum to the CANPacker
nissan_checksum = crcmod . mkCrcFun ( 0x11d , initCrc = 0x00 , rev = False , xorOut = 0xff )
def create_steering_control ( packer , apply_steer , frame , steer_on , lkas_max_torque ) :
values = {
" COUNTER " : frame % 0x10 ,
" DESIRED_ANGLE " : apply_steer ,
" SET_0x80_2 " : 0x80 ,
" SET_0x80 " : 0x80 ,
" MAX_TORQUE " : lkas_max_torque if steer_on else 0 ,
" LKA_ACTIVE " : steer_on ,
}
dat = packer . make_can_msg ( " LKAS " , 0 , values ) [ 2 ]
values [ " CHECKSUM " ] = nissan_checksum ( dat [ : 7 ] )
return packer . make_can_msg ( " LKAS " , 0 , values )
def create_acc_cancel_cmd ( packer , car_fingerprint , cruise_throttle_msg ) :
values = { s : cruise_throttle_msg [ s ] for s in [
" COUNTER " ,
" PROPILOT_BUTTON " ,
" CANCEL_BUTTON " ,
" GAS_PEDAL_INVERTED " ,
" SET_BUTTON " ,
" RES_BUTTON " ,
" FOLLOW_DISTANCE_BUTTON " ,
" NO_BUTTON_PRESSED " ,
" GAS_PEDAL " ,
" USER_BRAKE_PRESSED " ,
" NEW_SIGNAL_2 " ,
" GAS_PRESSED_INVERTED " ,
" unsure1 " ,
" unsure2 " ,
" unsure3 " ,
] }
can_bus = 1 if car_fingerprint == CAR . ALTIMA else 2
values [ " CANCEL_BUTTON " ] = 1
values [ " NO_BUTTON_PRESSED " ] = 0
values [ " PROPILOT_BUTTON " ] = 0
values [ " SET_BUTTON " ] = 0
values [ " RES_BUTTON " ] = 0
values [ " FOLLOW_DISTANCE_BUTTON " ] = 0
return packer . make_can_msg ( " CRUISE_THROTTLE " , can_bus , values )
def create_cancel_msg ( packer , cancel_msg , cruise_cancel ) :
values = { s : cancel_msg [ s ] for s in [
" CANCEL_SEATBELT " ,
" NEW_SIGNAL_1 " ,
" NEW_SIGNAL_2 " ,
" NEW_SIGNAL_3 " ,
] }
if cruise_cancel :
values [ " CANCEL_SEATBELT " ] = 1
return packer . make_can_msg ( " CANCEL_MSG " , 2 , values )
def create_lkas_hud_msg ( packer , lkas_hud_msg , enabled , left_line , right_line , left_lane_depart , right_lane_depart ) :
values = { s : lkas_hud_msg [ s ] for s in [
" LARGE_WARNING_FLASHING " ,
" SIDE_RADAR_ERROR_FLASHING1 " ,
" SIDE_RADAR_ERROR_FLASHING2 " ,
" LEAD_CAR " ,
" LEAD_CAR_ERROR " ,
" FRONT_RADAR_ERROR " ,
" FRONT_RADAR_ERROR_FLASHING " ,
" SIDE_RADAR_ERROR_FLASHING3 " ,
" LKAS_ERROR_FLASHING " ,
" SAFETY_SHIELD_ACTIVE " ,
" RIGHT_LANE_GREEN_FLASH " ,
" LEFT_LANE_GREEN_FLASH " ,
" FOLLOW_DISTANCE " ,
" AUDIBLE_TONE " ,
" SPEED_SET_ICON " ,
" SMALL_STEERING_WHEEL_ICON " ,
" unknown59 " ,
" unknown55 " ,
" unknown26 " ,
" unknown28 " ,
" unknown31 " ,
" SET_SPEED " ,
" unknown43 " ,
" unknown08 " ,
" unknown05 " ,
" unknown02 " ,
] }
values [ " RIGHT_LANE_YELLOW_FLASH " ] = 1 if right_lane_depart else 0
values [ " LEFT_LANE_YELLOW_FLASH " ] = 1 if left_lane_depart else 0
values [ " LARGE_STEERING_WHEEL_ICON " ] = 2 if enabled else 0
values [ " RIGHT_LANE_GREEN " ] = 1 if right_line and enabled else 0
values [ " LEFT_LANE_GREEN " ] = 1 if left_line and enabled else 0
return packer . make_can_msg ( " PROPILOT_HUD " , 0 , values )
def create_lkas_hud_info_msg ( packer , lkas_hud_info_msg , steer_hud_alert ) :
values = { s : lkas_hud_info_msg [ s ] for s in [
" NA_HIGH_ACCEL_TEMP " ,
" SIDE_RADAR_NA_HIGH_CABIN_TEMP " ,
" SIDE_RADAR_MALFUNCTION " ,
" LKAS_MALFUNCTION " ,
" FRONT_RADAR_MALFUNCTION " ,
" SIDE_RADAR_NA_CLEAN_REAR_CAMERA " ,
" NA_POOR_ROAD_CONDITIONS " ,
" CURRENTLY_UNAVAILABLE " ,
" SAFETY_SHIELD_OFF " ,
" FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION " ,
" PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED " ,
" SIDE_IMPACT_NA_RADAR_OBSTRUCTION " ,
" WARNING_DO_NOT_ENTER " ,
" SIDE_IMPACT_SYSTEM_OFF " ,
" SIDE_IMPACT_MALFUNCTION " ,
" FRONT_COLLISION_MALFUNCTION " ,
" SIDE_RADAR_MALFUNCTION2 " ,
" LKAS_MALFUNCTION2 " ,
" FRONT_RADAR_MALFUNCTION2 " ,
" PROPILOT_NA_MSGS " ,
" BOTTOM_MSG " ,
" HANDS_ON_WHEEL_WARNING " ,
" WARNING_STEP_ON_BRAKE_NOW " ,
" PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED " ,
" PROPILOT_NA_HIGH_CABIN_TEMP " ,
" WARNING_PROPILOT_MALFUNCTION " ,
" ACC_UNAVAILABLE_HIGH_CABIN_TEMP " ,
" ACC_NA_FRONT_CAMERA_IMPARED " ,
" unknown07 " ,
" unknown10 " ,
" unknown15 " ,
" unknown23 " ,
" unknown19 " ,
" unknown31 " ,
" unknown32 " ,
" unknown46 " ,
" unknown61 " ,
" unknown55 " ,
" unknown50 " ,
] }
if steer_hud_alert :
values [ " HANDS_ON_WHEEL_WARNING " ] = 1
return packer . make_can_msg ( " PROPILOT_HUD_INFO_MSG " , 0 , values )
