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57 lines
1.7 KiB
57 lines
1.7 KiB
5 years ago
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import copy
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from cereal import car
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from selfdrive.car.subaru.values import CAR
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def subaru_checksum(packer, values, addr):
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dat = packer.make_can_msg(addr, 0, values)[2]
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return (sum(dat[1:]) + (addr >> 8) + addr) & 0xff
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def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_step):
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if car_fingerprint == CAR.IMPREZA:
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#counts from 0 to 15 then back to 0 + 16 for enable bit
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idx = ((frame // steer_step) % 16)
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values = {
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"Counter": idx,
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"LKAS_Output": apply_steer,
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"LKAS_Request": 1 if apply_steer != 0 else 0,
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"SET_1": 1
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}
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values["Checksum"] = subaru_checksum(packer, values, 0x122)
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return packer.make_can_msg("ES_LKAS", 0, values)
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def create_steering_status(packer, car_fingerprint, apply_steer, frame, steer_step):
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if car_fingerprint == CAR.IMPREZA:
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values = {}
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values["Checksum"] = subaru_checksum(packer, {}, 0x322)
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return packer.make_can_msg("ES_LKAS_State", 0, values)
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def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
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values = copy.copy(es_distance_msg)
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if pcm_cancel_cmd:
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values["Main"] = 1
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values["Checksum"] = subaru_checksum(packer, values, 545)
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return packer.make_can_msg("ES_Distance", 0, values)
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def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
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values = copy.copy(es_lkas_msg)
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if visual_alert == VisualAlert.steerRequired:
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values["Keep_Hands_On_Wheel"] = 1
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values["LKAS_Left_Line_Visible"] = int(left_line)
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values["LKAS_Right_Line_Visible"] = int(right_line)
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values["Checksum"] = subaru_checksum(packer, values, 802)
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return packer.make_can_msg("ES_LKAS_State", 0, values)
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