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24 lines
639 B
24 lines
639 B
3 years ago
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def create_lkas(packer, enabled, frame, lat_active, apply_steer):
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values = {
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"LKA_MODE": 2,
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"LKA_ICON": 2 if enabled else 1,
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"TORQUE_REQUEST": apply_steer,
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"LKA_ASSIST": 0,
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"STEER_REQ": 1 if lat_active else 0,
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"STEER_MODE": 0,
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"SET_ME_1": 0,
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"NEW_SIGNAL_1": 0,
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"NEW_SIGNAL_2": 0,
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}
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return packer.make_can_msg("LKAS", 4, values, frame % 255)
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def create_buttons(packer, cnt, cancel, resume):
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values = {
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"_COUNTER": cnt % 0xf,
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"SET_ME_1": 1,
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"DISTANCE_BTN": 1 if resume else 0,
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"PAUSE_RESUME_BTN": 1 if cancel else 0,
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}
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return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
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