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38 lines
1.3 KiB
38 lines
1.3 KiB
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
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values = {
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"SET_ME_0X3": 0x3,
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"Assist_Torque": abs(apply_steer),
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"Assist_Requested": lkas_enabled,
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"Assist_VZ": 1 if apply_steer < 0 else 0,
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"HCA_Available": 1,
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"HCA_Standby": not lkas_enabled,
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"HCA_Active": lkas_enabled,
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"SET_ME_0XFE": 0xFE,
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"SET_ME_0X07": 0x07,
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}
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return packer.make_can_msg("HCA_01", bus, values)
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def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
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values = ldw_stock_values.copy()
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values.update({
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"LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
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"LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
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"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
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"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
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"LDW_Texte": hud_alert,
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})
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return packer.make_can_msg("LDW_02", bus, values)
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def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
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values = gra_stock_values.copy()
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values.update({
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"COUNTER": idx,
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"GRA_Abbrechen": cancel,
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"GRA_Tip_Wiederaufnahme": resume,
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})
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return packer.make_can_msg("GRA_ACC_01", bus, values)
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