From fcbce3d8f6cafa5cff44c8b7017435359a2cc608 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Mar 2024 10:35:33 -0700 Subject: [PATCH] cleanup pedal crc old-commit-hash: 23e8ad73979735479131dfb303e249b861829468 --- selfdrive/car/__init__.py | 14 -------------- tools/sim/lib/simulated_car.py | 3 --- 2 files changed, 17 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index f7d6140640..3898d46534 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -165,20 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra return above_limit_frames, request -def crc8_pedal(data): - crc = 0xFF # standard init value - poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 - size = len(data) - for i in range(size - 1, -1, -1): - crc ^= data[i] - for _ in range(8): - if ((crc & 0x80) != 0): - crc = ((crc << 1) ^ poly) & 0xFF - else: - crc <<= 1 - return crc - - def make_can_msg(addr, dat, bus): return [addr, 0, dat, bus] diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 9148d0ddb2..746886ba43 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -4,7 +4,6 @@ from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser from openpilot.common.params import Params from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp -from openpilot.selfdrive.car import crc8_pedal from openpilot.tools.sim.lib.common import SimulatorState @@ -55,8 +54,6 @@ class SimulatedCar: "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12, "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12, } - checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1]) - values["CHECKSUM_PEDAL"] = checksum msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values)) msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))