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89 lines
3.0 KiB
89 lines
3.0 KiB
import crcmod
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from selfdrive.car.hyundai.values import CAR, CHECKSUM
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hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
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def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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lkas11, sys_warning, sys_state, enabled,
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left_lane, right_lane,
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left_lane_depart, right_lane_depart):
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values = lkas11
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values["CF_Lkas_LdwsSysState"] = sys_state
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values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
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values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
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values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
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values["CR_Lkas_StrToqReq"] = apply_steer
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values["CF_Lkas_ActToi"] = steer_req
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values["CF_Lkas_ToiFlt"] = 0
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values["CF_Lkas_MsgCount"] = frame % 0x10
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values["CF_Lkas_Chksum"] = 0
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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# FcwOpt_USM 5 = Orange blinking car + lanes
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# FcwOpt_USM 4 = Orange car + lanes
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# FcwOpt_USM 3 = Green blinking car + lanes
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# FcwOpt_USM 2 = Green car + lanes
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# FcwOpt_USM 1 = White car + lanes
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# FcwOpt_USM 0 = No car + lanes
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values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
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# SysWarning 4 = keep hands on wheel
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# SysWarning 5 = keep hands on wheel (red)
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# SysWarning 6 = keep hands on wheel (red) + beep
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# Note: the warning is hidden while the blinkers are on
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values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
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elif car_fingerprint == CAR.HYUNDAI_GENESIS:
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# This field is actually LdwsActivemode
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# Genesis and Optima fault when forwarding while engaged
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values["CF_Lkas_LdwsActivemode"] = 2
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elif car_fingerprint == CAR.KIA_OPTIMA:
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values["CF_Lkas_LdwsActivemode"] = 0
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dat = packer.make_can_msg("LKAS11", 0, values)[2]
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if car_fingerprint in CHECKSUM["crc8"]:
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# CRC Checksum as seen on 2019 Hyundai Santa Fe
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dat = dat[:6] + dat[7:8]
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checksum = hyundai_checksum(dat)
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elif car_fingerprint in CHECKSUM["6B"]:
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# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
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checksum = sum(dat[:6]) % 256
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else:
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# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
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checksum = (sum(dat[:6]) + dat[7]) % 256
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values["CF_Lkas_Chksum"] = checksum
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return packer.make_can_msg("LKAS11", 0, values)
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def create_clu11(packer, frame, clu11, button):
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values = clu11
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values["CF_Clu_CruiseSwState"] = button
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values["CF_Clu_AliveCnt1"] = frame % 0x10
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return packer.make_can_msg("CLU11", 0, values)
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def create_lfa_mfa(packer, frame, enabled):
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values = {
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"ACTIVE": enabled,
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}
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# ACTIVE 1 = Green steering wheel icon
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# LFA_USM 2 & 3 = LFA cancelled, fast loud beeping
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# LFA_USM 0 & 1 = No mesage
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# LFA_SysWarning 1 = "Switching to HDA", short beep
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# LFA_SysWarning 2 = "Switching to Smart Cruise control", short beep
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# LFA_SysWarning 3 = LFA error
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# ACTIVE2: nothing
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# HDA_USM: nothing
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return packer.make_can_msg("LFAHDA_MFC", 0, values)
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