def create_steer_command ( packer , steer , steer_req ) :
""" Creates a CAN message for the Toyota Steer Command. """
values = {
" STEER_REQUEST " : steer_req ,
" STEER_TORQUE_CMD " : steer ,
" SET_ME_1 " : 1 ,
}
return packer . make_can_msg ( " STEERING_LKA " , 0 , values )
def create_lta_steer_command ( packer , steer_angle , steer_req , frame , setme_x64 ) :
""" Creates a CAN message for the Toyota LTA Steer Command. """
values = {
" COUNTER " : frame + 128 ,
" SETME_X1 " : 1 ,
" SETME_X3 " : 3 ,
" PERCENTAGE " : 100 ,
" SETME_X64 " : setme_x64 ,
" ANGLE " : 0 ,
" STEER_ANGLE_CMD " : steer_angle ,
" STEER_REQUEST " : steer_req ,
" STEER_REQUEST_2 " : steer_req ,
" CLEAR_HOLD_STEERING_ALERT " : 0 ,
}
return packer . make_can_msg ( " STEERING_LTA " , 0 , values )
def create_accel_command ( packer , accel , pcm_cancel , standstill_req , lead , acc_type ) :
# TODO: find the exact canceling bit that does not create a chime
values = {
" ACCEL_CMD " : accel ,
" ACC_TYPE " : acc_type ,
" DISTANCE " : 0 ,
" MINI_CAR " : lead ,
" PERMIT_BRAKING " : 1 ,
" RELEASE_STANDSTILL " : not standstill_req ,
" CANCEL_REQ " : pcm_cancel ,
" ALLOW_LONG_PRESS " : 1 ,
}
return packer . make_can_msg ( " ACC_CONTROL " , 0 , values )
def create_acc_cancel_command ( packer ) :
values = {
" GAS_RELEASED " : 0 ,
" CRUISE_ACTIVE " : 0 ,
" ACC_BRAKING " : 0 ,
" ACCEL_NET " : 0 ,
" CRUISE_STATE " : 0 ,
" CANCEL_REQ " : 1 ,
}
return packer . make_can_msg ( " PCM_CRUISE " , 0 , values )
def create_fcw_command ( packer , fcw ) :
values = {
" PCS_INDICATOR " : 1 ,
" FCW " : fcw ,
" SET_ME_X20 " : 0x20 ,
" SET_ME_X10 " : 0x10 ,
" PCS_OFF " : 1 ,
" PCS_SENSITIVITY " : 0 ,
}
return packer . make_can_msg ( " ACC_HUD " , 0 , values )
def create_ui_command ( packer , steer , chime , left_line , right_line , left_lane_depart , right_lane_depart , enabled , stock_lkas_hud ) :
values = {
" TWO_BEEPS " : chime ,
" LDA_ALERT " : steer ,
" RIGHT_LINE " : 3 if right_lane_depart else 1 if right_line else 2 ,
" LEFT_LINE " : 3 if left_lane_depart else 1 if left_line else 2 ,
" BARRIERS " : 1 if enabled else 0 ,
# static signals
" SET_ME_X02 " : 2 ,
" SET_ME_X01 " : 1 ,
" LKAS_STATUS " : 1 ,
" REPEATED_BEEPS " : 0 ,
" LANE_SWAY_FLD " : 7 ,
" LANE_SWAY_BUZZER " : 0 ,
" LANE_SWAY_WARNING " : 0 ,
" LDA_FRONT_CAMERA_BLOCKED " : 0 ,
" TAKE_CONTROL " : 0 ,
" LANE_SWAY_SENSITIVITY " : 2 ,
" LANE_SWAY_TOGGLE " : 1 ,
" LDA_ON_MESSAGE " : 0 ,
" LDA_MESSAGES " : 0 ,
" LDA_SA_TOGGLE " : 1 ,
" LDA_SENSITIVITY " : 2 ,
" LDA_UNAVAILABLE " : 0 ,
" LDA_MALFUNCTION " : 0 ,
" LDA_UNAVAILABLE_QUIET " : 0 ,
" ADJUSTING_CAMERA " : 0 ,
" LDW_EXIST " : 1 ,
}
# lane sway functionality
# not all cars have LKAS_HUD — update with camera values if available
if len ( stock_lkas_hud ) :
values . update ( { s : stock_lkas_hud [ s ] for s in [
" LANE_SWAY_FLD " ,
" LANE_SWAY_BUZZER " ,
" LANE_SWAY_WARNING " ,
" LANE_SWAY_SENSITIVITY " ,
" LANE_SWAY_TOGGLE " ,
] } )
return packer . make_can_msg ( " LKAS_HUD " , 0 , values )
