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58 lines
2.0 KiB
58 lines
2.0 KiB
2 months ago
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import V_CRUISE_MAX
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from opendbc.car.tesla.values import CANBUS, CarControllerParams
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class TeslaCAN:
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def __init__(self, packer):
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self.packer = packer
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@staticmethod
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def checksum(msg_id, dat):
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ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
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ret += sum(dat)
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return ret & 0xFF
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def create_steering_control(self, angle, enabled, counter):
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values = {
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"DAS_steeringAngleRequest": -angle,
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"DAS_steeringHapticRequest": 0,
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"DAS_steeringControlType": 1 if enabled else 0,
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"DAS_steeringControlCounter": counter,
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}
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data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)[1]
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values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
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return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
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def create_longitudinal_command(self, acc_state, accel, cntr, v_ego, active):
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set_speed = max(v_ego * CV.MS_TO_KPH, 0)
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if active:
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# TODO: this causes jerking after gas override when above set speed
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set_speed = 0 if accel < 0 else V_CRUISE_MAX
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values = {
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"DAS_setSpeed": set_speed,
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"DAS_accState": acc_state,
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"DAS_aebEvent": 0,
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"DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
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"DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
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"DAS_accelMin": accel,
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"DAS_accelMax": max(accel, 0),
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"DAS_controlCounter": cntr,
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"DAS_controlChecksum": 0,
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}
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data = self.packer.make_can_msg("DAS_control", CANBUS.party, values)[1]
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values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
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return self.packer.make_can_msg("DAS_control", CANBUS.party, values)
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def create_steering_allowed(self, counter):
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values = {
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"APS_eacAllow": 1,
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"APS_eacMonitorCounter": counter,
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}
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data = self.packer.make_can_msg("APS_eacMonitor", CANBUS.party, values)[1]
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values["APS_eacMonitorChecksum"] = self.checksum(0x27d, data[:2])
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return self.packer.make_can_msg("APS_eacMonitor", CANBUS.party, values)
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